CN117707082A

CN117707082A - Automatic unloading track dynamic programming system, method and medium for loader

Info

Publication number: CN117707082A
Application number: CN202311752999.0A
Authority: CN
Inventors: 李学飞; 白杰; 李英男; 毕秋实
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2023-12-19
Filing date: 2023-12-19
Publication date: 2024-03-15

Abstract

The invention discloses a loader autonomous unloading track dynamic programming system, method and medium, which belong to the technical field of loaders and comprise a first vision camera, a second vision camera, a laser radar, a first displacement sensor, a second displacement sensor and a vehicle VCU which are respectively and electrically connected with a terminal. The invention provides a dynamic planning system, a method and a medium for an autonomous unloading track of a loader, which aim at optimizing the energy consumption of the loader and reducing the impact on a dump truck, can realize the motion planning of autonomous unloading in the working process of the unmanned loader, and has strong adaptability to the environment.

Description

Automatic unloading track dynamic programming system, method and medium for loader

Technical Field

The invention discloses a loader autonomous discharging track dynamic planning system, method and medium, and belongs to the technical field of loaders.

Background

The wheel loader is an engineering machine integrating the functions of material shoveling, loading, transporting, digging and the like, and because of the functions, the wheel loader is increasingly widely used nowadays and plays an important role in various engineering constructions. The loader is more applied to the shoveling operation, and the shoveling operation is mostly a cyclic operation, and scattered materials such as coal, sand, soil and the like are transferred to other appointed positions through repeated shoveling-transporting-discharging cycles. The development of unmanned technical research of the loader has very important practical significance in the aspects of reducing the labor intensity of drivers, reducing operation accidents, improving the operation efficiency and the like. The autonomous unloading is used as the final link of the working cycle of the unmanned loader, and the interaction operation with other engineering vehicles needs to be completed, so that the automatic unloading has higher collision risk compared with other working links, and therefore, how to complete the autonomous shovel loading of the loader is one of key technologies for realizing the unmanned operation of the loader.

The automatic shovel loading of the loader is realized in the existing research results in two main modes: the method for reproducing the unloading action of the driver comprises the steps of firstly, operating the loader by the driver to unload materials, recording the action of the loader operated by the driver by a control system, and then repeatedly playing back the action, so as to achieve the aim of autonomous unloading; chinese patent No. 119A discloses a pure kinematics planning scheme based on laser radar perception, which only considers that the mechanical structure of the loader does not collide with the dump truck. The first discharging mode is used for discharging operation in a fixed action, the second discharging mode only uses a pure kinematic model, only considers that the loader structure does not collide with the outer side of the dump truck, and the planned track still has the collision risk of the loader bucket and the inner wall of the dump truck hopper. In addition, the energy consumption of the loader and the impact of the materials on the dumper in the unloading process are not considered in the two unloading modes, and real-time response to the change of the environment is difficult. Therefore, designing a high-efficiency and reliable autonomous unloading method of a loader, which considers the reduction of the energy consumption of the loader and the reduction of the impact of the dumper, becomes a key point for realizing the practical application of unloading of the unmanned loader.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a system, a method and a medium for dynamically planning an autonomous unloading track of a loader, which solve the problems that a driver operates the loader to perform unloading operation frequently, has certain requirements on the experience level of the driver and is easy to cause fatigue and accidents of the driver, thereby freeing the driver from boring work and improving the unloading efficiency.

The technical scheme of the invention is as follows:

according to a first aspect of an embodiment of the present invention, there is provided a loader autonomous unloading trajectory dynamic planning system, including a first vision camera, a second vision camera, a laser radar, a first displacement sensor, a second displacement sensor, and a vehicle VCU electrically connected to a terminal, respectively, wherein:

the laser radar is arranged at the top of the cab and used for acquiring the distance between the dump truck and the material pile and the point cloud information of the target dump truck and sending the information to the terminal;

the first vision camera and the second vision camera are symmetrically arranged on two sides of the laser radar at the top of the cab respectively, and are used for acquiring an external contour image of materials and a material pile contained in the bucket and a complete dump truck form on a Y-Z cross section of a dump truck bin and sending the images to the terminal;

The first displacement sensor is arranged on the rotating bucket oil cylinder and used for acquiring the expansion and contraction amount of the rotating bucket oil cylinder and sending the expansion and contraction amount to the terminal;

the second displacement sensor is arranged on the movable arm oil cylinder and used for acquiring the expansion and contraction amount of the movable arm oil cylinder and sending the expansion and contraction amount to the terminal;

the vehicle VCU is arranged in the loader, and is used for acquiring the speed and the acceleration of the vehicle and the pressure load value of the rodless cavity of the movable arm oil cylinder and sending the pressure load value to the terminal;

the terminal is arranged in a cab for:

acquiring the distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the material and the material pile which are filled in the bucket and the complete dump truck form on the Y-Z cross section of the dump truck bin, and acquiring a collision detection occupation grid image;

establishing a vehicle coordinate system, and obtaining a discharge angle of a final discharge posture and a hinge point coordinate of a movable arm and a bucket according to a loader kinematic model and the collision detection occupation grid diagram;

determining a loader body displacement-time curve according to the vehicle speed, the acceleration, the unloading angle of the final unloading posture, the coordinates of the hinge points of the movable arm and the bucket and the total path length of the coordinate speed planning, and determining the total displacement travel of the movement of the movable arm cylinder and the movement of the rotating bucket cylinder in the unloading operation according to the unloading angle of the final unloading posture and the coordinates of the hinge points of the movable arm and the bucket;

Obtaining a movable arm oil cylinder displacement-time curve according to the total displacement travel of the movable arm oil cylinder motion and the pressure load value of a rodless cavity of the movable arm oil cylinder in the unloading operation;

determining a displacement-time curve of the rotating bucket cylinder according to the total displacement travel of the motion of the rotating bucket cylinder in the unloading operation and the unloading angle of the final unloading posture;

and obtaining the autonomous unloading track of the loader according to the displacement-time curve of the loader body, the displacement-time curve of the movable arm oil cylinder and the displacement-time curve of the rotating bucket oil cylinder.

According to a second aspect of the embodiment of the present invention, there is provided a method for dynamically planning an autonomous unloading trajectory of a loader, which is applied to a terminal in the system for dynamically planning an autonomous unloading trajectory of a loader according to the first aspect, and includes:

Preferably, the acquiring the distance between the dump truck and the material pile, the target dump truck point cloud information, the external contour image of the material and the material pile contained in the bucket, and the complete dump truck form on the Y-Z cross section of the dump truck bin and obtaining the collision detection occupancy grid map includes:

acquiring the distance between the dump truck and the material pile, the point cloud information of the target dump truck, and the external contour images of the materials and the material pile in the bucket to acquire the target dump truck pose information and the point cloud;

obtaining edge linear information of a dump truck hopper and a dump point in the dump truck hopper according to the target dump truck pose information and the point cloud;

slicing and projecting the complete dump truck form on the Y-Z cross section of the dump truck bin according to the edge linear information of the dump truck bin and the unloading point in the dump truck bin to obtain a point cloud of the cross section of the dump truck bin;

And importing the point cloud of the cross section of the dump truck bin into a grid map to perform two-dimensional point cloud voxelization of the dump truck to obtain an occupied collision detection grid map.

Preferably, the establishing a vehicle coordinate system, obtaining a discharge angle of a final discharge posture and a hinge point coordinate of a movable arm and a bucket according to a loader kinematic model and the collision detection occupation grid map, includes:

establishing a vehicle coordinate system, presetting initial boom and bucket pose coordinate points according to a loader kinematic model, and generating a key collision detection vector, wherein the key collision detection vector comprises: the first vector points to the edge of the truck in the direction perpendicular to the connecting line between the hinging point of the movable arm and the loader body and the position and posture point of the initial movable arm and the bucket, the second vector points to the edge of the truck in the direction perpendicular to the connecting line between the position and the posture point of the initial movable arm and the bucket and the outer lower edge of the bucket, and the third vector points to the edge of the hopper of the truck in the direction perpendicular to the connecting line between the position and the initial movable arm and the bucket and the outer lower edge of the bucket;

and leading the key collision detection vector into an occupied collision detection grid graph to detect and judge whether collision pose is generated or not:

updating the pose until a collision-free pose is generated;

and if not, obtaining the unloading angle of the final unloading gesture and the hinging point coordinate of the movable arm and the bucket according to the current key collision detection vector.

Preferably, the updating the pose until the collision-free pose is generated includes:

acquiring the lowest collision-free pose of the cutting edge from the bottom of the dump truck bin and acquiring collision information;

according to the collision information, adjusting to the pose of the shovel tip, which is the lowest from the bottom of the dump truck bin and has no collision:

when the collision information is that the first vector collides, and the second vector and the third vector do not collide, translating the initial movable arm and the bucket pose point along the negative direction of the Y axis;

when the collision information is that the second vector collides, and the first vector and the third vector do not collide, translating the initial movable arm and the bucket pose point along the positive direction of the Y axis;

and when the collision information is that the third vector collides and the first vector and the second vector do not collide or the first vector and the second vector collide, translating the initial movable arm and the bucket pose point along the positive direction of the Z axis.

Preferably, the determining the total displacement travel of the movement of the boom cylinder and the rotating bucket cylinder in the unloading operation according to the unloading angle of the final unloading gesture and the coordinate of the hinge point of the boom and the bucket includes:

determining a final expected position of a movable arm oil cylinder and a final expected position of a rotating bucket oil cylinder in unloading work according to the unloading angle of the final unloading gesture and the coordinate of the hinge point of the movable arm and the bucket;

And determining the total displacement travel of the movement of the movable arm cylinder and the rotating bucket cylinder in the unloading operation according to the current telescopic amount position of the rotating bucket cylinder, the current telescopic amount position of the movable arm cylinder, the final expected position of the movable arm cylinder in the unloading operation and the final expected position of the rotating bucket cylinder.

Preferably, the obtaining the moving-time curve of the boom cylinder according to the total moving travel of the boom cylinder and the pressure load value of the rodless cavity of the boom cylinder in the unloading operation includes:

determining a movable arm oil cylinder rodless cavity pressure load interval according to the movable arm oil cylinder rodless cavity pressure load value;

obtaining the motor rotating speed with the highest efficiency of the hydraulic motor according to the movable arm oil cylinder rodless cavity pressure load interval and a hydraulic motor efficiency MAP;

obtaining the speed of a movable arm oil cylinder according to the motor rotating speed with the highest efficiency of the hydraulic motor;

and obtaining a movable arm oil cylinder displacement-time curve according to the total displacement travel of the movable arm oil cylinder motion and the movable arm oil cylinder speed in the unloading operation.

Preferably, the determining the displacement-time curve of the bucket cylinder according to the total displacement travel of the bucket cylinder motion in the unloading operation and the unloading angle of the final unloading posture includes:

acquiring total displacement in the X direction of a discharge angle shovel tip with a discharge angle ranging from 0 to a final discharge attitude, and acquiring a first shovel tip displacement-time curve according to the loader body displacement-time curve and the total displacement in the X direction of the discharge angle shovel tip with the discharge angle ranging from 0 to the final discharge attitude;

Obtaining a first bucket cylinder displacement-time curve according to the first cutting edge displacement-time curve;

acquiring bucket cutting edge transportation state parameters, and fitting by using three-time multiple interpolation according to the cutting edge state parameters with the discharge angle of 0 and the discharge angle of the final discharge attitude to obtain a second cutting edge displacement-time curve;

and obtaining a rotating bucket oil cylinder displacement-time curve according to the first cutting edge displacement-time curve and the second cutting edge displacement-time curve.

According to a third aspect of the embodiment of the present invention, there is provided a loader autonomous unloading trajectory dynamic programming device, including:

the sensing module is used for acquiring the distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the materials and the material pile in the bucket and the complete dump truck form on the Y-Z cross section of the dump truck bin and obtaining a collision detection occupation grid map;

the final unloading position planning module is used for establishing a vehicle coordinate system and obtaining an unloading angle of a final unloading position and a hinge point coordinate of a movable arm and a bucket according to a loader kinematic model and the collision detection occupation grid diagram;

the loader running motion planning module is used for determining a loader body displacement-time curve according to the vehicle speed, the acceleration, the unloading angle of the final unloading posture, the coordinate of the hinge point of the movable arm and the bucket and the coordinate speed planning total path length, and determining the total displacement travel of the movement of the movable arm oil cylinder and the movement of the rotating bucket oil cylinder in the unloading operation according to the unloading angle of the final unloading posture and the coordinate of the hinge point of the movable arm and the bucket;

The loader movable arm movement planning module is used for obtaining a movable arm cylinder displacement-time curve according to the total displacement travel of the movable arm cylinder movement and the pressure load value of a rodless cavity of the movable arm cylinder in the unloading operation;

the loader rotating bucket movement planning module is used for determining a rotating bucket cylinder displacement-time curve according to the total displacement travel of the rotating bucket cylinder movement in the unloading operation and the unloading angle of the final unloading posture;

and the track fitting module is used for obtaining the autonomous unloading track of the loader according to the displacement-time curve of the loader body, the displacement-time curve of the movable arm oil cylinder and the displacement-time curve of the rotating bucket oil cylinder.

According to a fourth aspect of an embodiment of the present invention, there is provided a terminal including:

one or more processors;

a memory for storing the one or more processor-executable instructions;

wherein the one or more processors are configured to:

the method according to the first aspect of the embodiment of the invention is performed.

According to a fifth aspect of embodiments of the present invention, there is provided a non-transitory computer readable storage medium, which when executed by a processor of a terminal, enables the terminal to perform the method according to the first aspect of embodiments of the present invention.

According to a sixth aspect of embodiments of the present invention, there is provided an application program product for causing a terminal to carry out the method according to the first aspect of embodiments of the present invention when the application program product is run at the terminal.

The invention has the beneficial effects that:

the invention provides a dynamic planning system, a method and a medium for an autonomous unloading track of a loader, which aim at optimizing the energy consumption of the loader and reducing the impact on a dump truck, can realize the motion planning of autonomous unloading in the working process of the unmanned loader, and has strong adaptability to the environment.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

FIG. 1 is a schematic diagram of a loader autonomous discharge trajectory dynamic planning system, according to an exemplary embodiment.

Fig. 2 is a schematic configuration diagram of a loader autonomous discharge trajectory dynamic planning system, according to an exemplary embodiment.

FIG. 3 is a flow chart illustrating a method for dynamically planning an autonomous discharge trajectory of a loader according to an exemplary embodiment.

FIG. 4 is a partial flow chart illustrating a method for dynamically planning an autonomous discharge trajectory of a loader according to an exemplary embodiment.

FIG. 5 is a schematic diagram illustrating the generation of an occupancy collision-detection trellis diagram in a loader autonomous discharge trajectory dynamic planning method, according to an example embodiment.

FIG. 6 is a flow chart illustrating a loader discharge end pose planning process in a loader autonomous discharge trajectory dynamic planning method, according to an exemplary embodiment.

Fig. 7 is a diagram illustrating a final loader discharge attitude structure in a method for dynamically planning an autonomous discharge trajectory of a loader according to an exemplary embodiment.

FIG. 8 is a flow chart illustrating a loader discharge end pose planning portion of a loader autonomous discharge trajectory dynamic planning method according to an exemplary embodiment.

Fig. 9 is a block diagram illustrating a dynamic planning apparatus for an autonomous discharge trajectory of a loader according to an exemplary embodiment.

Fig. 10 is a schematic block diagram of a terminal structure according to an exemplary embodiment.

Wherein: 1-first vision camera, 2-second vision camera, 3-laser radar, 4-first displacement sensor, 5-second displacement sensor, 6-terminal, 7-rotating bucket hydro-cylinder, 8-rotating bucket hydro-cylinder, 9-movable arm, 10-scraper bowl, 11-driver's cabin.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Example 1

A loader autonomous discharge trajectory dynamic planning system according to an exemplary embodiment is shown, the system comprising a first vision camera 1, a second vision camera 2, a lidar 3, a first displacement sensor 4, a second displacement sensor 5 and a vehicle VCU, which are electrically connected to a terminal 6, respectively, as shown in fig. 1 and 2, wherein:

The laser radar 3 is installed at the top of the cab 11 and is used for acquiring the distance between the dump truck and the material pile and the point cloud information of the target dump truck and sending the information to the terminal 6. The first vision camera 1 and the second vision camera 2 are symmetrically arranged at two sides of the laser radar 3 at the top of the cab 11 respectively and are used for acquiring an external contour image of materials and material piles contained in the bucket 10 and a complete dump truck form on the Y-Z cross section of the dump truck bin and sending the images to the terminal 6. The first displacement sensor 4 is installed on the rotating bucket oil cylinder 7 and is used for acquiring the expansion and contraction amount of the rotating bucket oil cylinder 7 and sending the expansion and contraction amount to the terminal 6. The second displacement sensor 5 is installed on the boom cylinder 8, and is used for acquiring the expansion and contraction amount of the boom cylinder 8 and sending the expansion and contraction amount to the terminal 6. The vehicle VCU is installed in the loader, and is used for acquiring the vehicle speed, the acceleration and the rodless cavity pressure load value of the boom cylinder 8 and transmitting the values to the terminal 6.

The terminal 6 is arranged in the cab 11 and is used for acquiring the distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the materials and the material pile contained in the bucket 10 and the complete dump truck form on the Y-Z cross section of the dump truck bin and obtaining a collision detection occupation grid diagram; and establishing a vehicle coordinate system, and obtaining a discharge angle of a final discharge posture and a hinging point coordinate of the movable arm 9 and the bucket 10 according to the loader kinematic model and the collision detection occupation grid diagram.

And determining a loader body displacement-time curve according to the vehicle speed, the acceleration, the unloading angle of the final unloading posture, the coordinate of the hinge point of the movable arm 9 and the bucket 10 and the total path length of the coordinate speed planning, and determining the total displacement travel of the movement of the movable arm cylinder 8 and the rotating bucket cylinder 7 in the unloading operation according to the unloading angle of the final unloading posture and the coordinate of the hinge point of the movable arm 9 and the bucket 10.

According to the total displacement travel of the movable arm cylinder 8 and the pressure load value of the rodless cavity of the movable arm cylinder 8 in the unloading operation, the displacement-time curve of the rotating bucket cylinder 7 is determined according to the total displacement travel of the rotating bucket cylinder 7 in the unloading operation and the unloading angle of the final unloading posture, and the autonomous unloading track of the loader is obtained according to the displacement-time curve of the loader body, the displacement-time curve of the movable arm cylinder 8 and the displacement-time curve of the rotating bucket cylinder 7.

Example 1

According to a flow chart of a method for dynamically planning an autonomous unloading trajectory of a loader according to an exemplary embodiment, the method is used in a terminal 6, the terminal 6 may be a desktop computer or a notebook computer, and the terminal 6 at least includes a CPU. As shown in fig. 3, the method comprises the steps of:

step S10, obtaining the distance between the dump truck and the material pile, the target dump truck point cloud information, the external contour image of the materials and the material pile contained in the bucket 10 and the complete dump truck form on the Y-Z cross section of the dump truck bin and obtaining a collision detection occupation grid map, wherein the specific steps comprise:

As shown in fig. 4, the distance between the dump truck and the material pile, the target dump truck point cloud information, and the external contour image of the material and the material pile contained in the bucket 10 are acquired to obtain target dump truck position and point cloud, and filtering and linear fitting are performed according to the target dump truck position and point cloud to obtain the edge linear information of the dump truck hopper and the unloading point in the dump truck hopper.

In order to effectively detect whether the movement of the loader bucket above and in the dump truck bin collides with the inner wall of the dump truck bin, the laser radar 3 is required to acquire the complete dump truck form on the Y-Z cross section of the dump truck bin, so that the dump truck point cloud is required to be symmetrically complemented with the vertical plane along the direction of the course angle of the dump truck before the collision detection occupation grid map is generated. And carrying out slicing projection on the complete dump truck form on the Y-Z cross section of the dump truck bin according to the edge linear information of the dump truck bin and the unloading point in the dump truck bin to obtain the point cloud of the cross section of the dump truck bin. In order to improve the efficiency of a collision detection algorithm, the point cloud of the cross section of the dump truck bin is led into a grid map for the voxel of the dump truck two-dimensional point cloud to obtain an occupied collision detection grid map.

As shown in fig. 5, the two-dimensional point cloud voxel processing of the dumper is performed on the point cloud in the grid according to a preset threshold, if the number of points in the grid is greater than or equal to the threshold, the grid is assigned a value of 1, the black filling in the graph is used for representing, otherwise, the value of 0 is represented by the white filling in the graph, and when an object or vector is detected to invade the black grid, collision is represented.

Step S20, a vehicle coordinate system is established, and a discharging angle of a final discharging posture and a hinging point coordinate of the movable arm 9 and the bucket 10 are obtained according to a loader kinematic model and the collision detection occupation grid diagram, wherein the specific steps comprise:

as shown in fig. 6 and 7, according to the unloading process and the action analysis, the final unloading position of the loader is the position that is most prone to collision in the unloading process of the loader, and the movement of the whole unloading process can be guaranteed not to collide by guaranteeing that the position is not collided. Before the collision detection process, a vehicle coordinate system is established, pose coordinate points of an initial movable arm 9 and a bucket 10 are preset according to a loader kinematic model, and meanwhile, in order to improve the module operation efficiency, a key collision detection vector is generated, wherein the key collision detection vector comprises: the truck hopper comprises a first vector A1, a second vector A2 and a third vector A3, wherein the first vector A1 points to the truck hopper in a direction perpendicular to the connection line of the hinge point A of the movable arm 9 and the loader body and the hinge point I of the initial movable arm 9 and the bucket 10, the second vector A2 points to the truck hopper in a direction perpendicular to the connection line of the hinge point I of the initial movable arm 9 and the bucket 10 and the outer lower edge of the bucket 10, and the third vector A3 points to the truck hopper in a direction perpendicular to the connection line of the hinge point I of the initial movable arm 9 and the bucket 10 and the outer lower edge of the bucket 10.

Leading the key collision detection vector into an occupied collision detection grid diagram to detect and judge whether collision pose is generated or not:

the pose is updated by the iterator until collision-free pose is generated;

and if not, obtaining the unloading angle of the final unloading posture and the coordinate of the hinging point of the movable arm 9 and the bucket 10 according to the current key collision detection vector.

The above-mentioned afferent iterator updates the position appearance, updates the position appearance until producing the position appearance of no collision, and specific step is as follows:

as shown in fig. 8, in the unloading process, a higher unloading height can cause a larger impact on the dump truck by the material, in order to reduce the impact on the dump truck during unloading, the iterator preferentially plans the pose of the cutting edge at the lowest and collision-free position from the bottom of the dump truck bin, so that firstly, the pose of the cutting edge at the lowest and collision-free position from the bottom of the dump truck bin is acquired, collision information is acquired, and the pose of the cutting edge at the lowest and collision-free position from the bottom of the dump truck bin is adjusted according to the collision information:

when the collision information is that the first vector collides, and the second vector and the third vector do not collide, translating the hinging point of the initial movable arm 9 and the bucket 10 along the negative direction of the Y axis;

when the collision information is that the second vector collides, and the first vector and the third vector do not collide, translating the hinging point of the initial movable arm 9 and the bucket 10 along the positive direction of the Y axis;

When the collision information is that the third vector collides and the first vector and the second vector do not collide or the first vector and the second vector collide, the hinge point of the initial movable arm 9 and the bucket 10 is translated along the positive direction of the Z axis.

Step S30, determining a loader body displacement-time curve according to the vehicle speed, the acceleration, the unloading angle of the final unloading posture, the coordinate of the hinge point of the movable arm 9 and the bucket 10 and the total path length of the coordinate speed planning, and determining the total displacement stroke of the movement of the movable arm cylinder 8 and the rotating bucket cylinder 7 in the unloading operation according to the unloading angle of the final unloading posture and the coordinate of the hinge point of the movable arm 9 and the bucket 10, wherein the specific steps comprise:

and solving according to the vehicle speed, the acceleration, the unloading angle of the final unloading gesture, the coordinate of the hinge point of the movable arm 9 and the bucket 10 and the total path length of the coordinate speed planning, and obtaining the displacement-time curve of the loader body.

And determining the final expected position of the movable arm cylinder and the final expected position of the rotating bucket cylinder in the unloading operation according to the unloading angle of the final unloading gesture and the coordinate of the hinging point of the movable arm 9 and the bucket 10, and determining the total movement displacement stroke of the movable arm cylinder 8 and the rotating bucket cylinder 7 in the unloading operation according to the current telescopic capacity position of the rotating bucket cylinder 7, the current telescopic capacity position of the movable arm cylinder 8, the final expected position of the movable arm cylinder and the final expected position of the rotating bucket cylinder in the unloading operation.

Step S40, according to the total displacement travel of the movement of the boom oil 8 cylinder and the pressure load value of the rodless cavity of the boom oil cylinder 8 in the unloading operation, the specific steps include:

for the movable arm lifting movement in the unloading process, the hydraulic motor is not easy to keep in the working area with highest efficiency due to the influence of the driving habit of a driver when the movable arm is lifted, so that unnecessary energy loss is caused. Therefore, the invention considers the energy efficiency and the motion smoothness of the hydraulic motor for different loads for the loader arm motion planning, and simultaneously maps the movable arm motion planning to the movable arm oil cylinder motion planning.

The main energy consumption of the system is used for lifting the movable arm from the transportation height to the unloading height, the pressure of auxiliary hydraulic circuits such as a movable arm lifting stage, a rotating bucket cylinder locking stage, a brake stage and the like is ignored, the main load in the hydraulic circuit can be considered to be sourced from the movable arm cylinder, the pressure load interval of the rodless cavity of the movable arm cylinder 8 is determined according to the pressure load value of the rodless cavity of the movable arm cylinder 8, and the motor rotating speed with the highest efficiency of the hydraulic motor is obtained according to the pressure load interval of the rodless cavity of the movable arm cylinder 8 and the MAP of the hydraulic motor efficiency. And obtaining the speed of the movable arm oil cylinder 8 according to the motor rotating speed with the highest efficiency of the hydraulic motor, and obtaining a movable arm oil cylinder 8 displacement-time curve according to the total displacement travel of the movable arm oil cylinder 8 and the speed of the movable arm oil cylinder 8 in the unloading operation.

Step S50, determining a displacement-time curve of the rotating bucket cylinder 7 according to the total displacement travel of the moving of the rotating bucket cylinder 7 and the unloading angle of the final unloading posture in the unloading operation, wherein the specific steps comprise:

for the bucket overturning movement in the unloading process, collision between the bucket and the inner side of a dump truck bin can be possibly caused when the bucket is driven to overturn downwards by the bucket rotating cylinder, so that the running speed of the loader is required to be matched with the bucket overturning speed in a coordinated manner, and a driver is required to have a higher driving level. The actions such as sudden braking and sudden stopping of the working device are easy to generate due to different polarities of the motion of the vehicle body and the motion of the working device, so that the unloading motion is discontinuous, the working efficiency is reduced, the energy loss of the hydraulic system on the auxiliary hydraulic loop can be increased due to additional braking, and the reduction of the power consumption of the loader is not facilitated. Therefore, the invention considers the cooperative coordination of the running speed of the loader and the turning speed of the bucket for the motion planning of the bucket turning, divides the bucket turning track into two sections for planning, and simultaneously maps the motion planning of the bucket to the motion planning of the rotating bucket cylinder for ensuring the smoothness of the motion. According to a planning target, in order to compensate the displacement of the cutting edge J in the Y direction in the interval, firstly, the total displacement in the X direction of the discharge angle cutting edge with the discharge angle ranging from 0 to the final discharge attitude is obtained, and a first cutting edge displacement-time curve is obtained according to the vehicle body displacement-time curve of the loader and the total displacement in the X direction of the discharge angle cutting edge ranging from 0 to the final discharge attitude. Obtaining a first rotating bucket oil cylinder displacement-time curve according to the first cutting edge displacement-time curve, obtaining a transport attitude cutting edge state parameter, fitting by using three-time multiple interpolation according to the discharge angle cutting edge state parameter with the discharge angle of 0 cutting edge state being the final discharge attitude to obtain a second cutting edge displacement-time curve, and obtaining a rotating bucket oil cylinder 7 displacement-time curve according to the first cutting edge displacement-time curve and the second cutting edge displacement-time curve.

Step S60, obtaining an autonomous unloading track of the loader according to a displacement-time curve of the loader body, a displacement-time curve of the movable arm cylinder 8 and a displacement-time curve of the rotating bucket cylinder 7, wherein the autonomous unloading track comprises the following specific steps of:

according to the action sequence of the working device, namely: the movable arm lifting, bucket overturning and discharging angle ranges from 0 degree to a specified discharging angle, bucket overturning is performed from a bucket receiving angle to a discharging angle ranging from 0 degree during transportation, a working device planning track time axis is spliced into a specified time sequence in a unified manner to obtain a working device movement planning curve, and in order to ensure that the working device is matched with the running movement of the loader in a coordinated manner, the running movement track ending time of the loader is aligned with the running movement track ending time of the working device in a unified manner. After the process is finished, the loader self-unloading track planning is finished.

Example III

Fig. 9 is a block diagram illustrating a dynamic planning apparatus for an autonomous discharge trajectory of a loader according to an exemplary embodiment, the apparatus including:

the sensing module is used for acquiring the distance between the dump truck and the material pile, the target dump truck point cloud information, the external contour image of the materials and the material pile contained in the bucket 10 and the complete dump truck form on the Y-Z cross section of the dump truck bin and obtaining a collision detection occupation grid map;

The final unloading position planning module is used for establishing a vehicle coordinate system, and obtaining an unloading angle of the final unloading position and a hinging point coordinate of the movable arm 9 and the bucket 10 according to a loader kinematic model and the collision detection occupation grid diagram;

the loader running motion planning module is used for determining a loader body displacement-time curve according to the vehicle speed, the acceleration, the unloading angle of the final unloading posture, the coordinate of the hinging point of the movable arm 9 and the bucket 10 and the coordinate speed planning total path length, and determining the total displacement travel of the movement of the movable arm cylinder 8 and the rotating bucket cylinder 7 in the unloading operation according to the unloading angle of the final unloading posture and the coordinate of the hinging point of the movable arm 9 and the bucket 10;

the loader maneuvering arm movement planning module is used for calculating a moving-arm oil cylinder 8 moving-time curve according to the total moving stroke of the moving-arm oil cylinder 8 and the pressure load value of a rodless cavity of the moving-arm oil cylinder 8 in the unloading operation;

the loader rotating bucket movement planning module is used for determining a displacement-time curve of the rotating bucket cylinder 7 according to the total displacement travel of the movement of the rotating bucket cylinder 7 in the unloading operation and the unloading angle of the final unloading posture;

and the track fitting module is used for obtaining the autonomous unloading track of the loader according to the displacement-time curve of the loader body, the displacement-time curve of the movable arm oil cylinder 8 and the displacement-time curve of the rotating bucket oil cylinder 7.

Example IV

Fig. 10 is a block diagram of a structure of a terminal provided in an embodiment of the present application, and the terminal may be a terminal in the above embodiment. The terminal may be a portable mobile terminal such as: smart phone, tablet computer. Terminals may also be referred to by other names, user equipment, portable terminals, etc.

Generally, the terminal includes: a processor and a memory.

The processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor may incorporate a GPU (Graphics Processing Unit, image processor) for rendering and rendering of content required to be displayed by the display screen. In some embodiments, the processor may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

The memory may include one or more computer-readable storage media, which may be tangible and non-transitory. The memory may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory is for storing at least one instruction for execution by a processor to implement a loader autonomous discharge trajectory dynamic planning method provided herein.

In some embodiments, the terminal may further optionally include: a peripheral interface and at least one peripheral. Specifically, the peripheral device includes: at least one of a radio frequency circuit, a touch display screen, a camera, an audio circuit, a positioning component and a power supply.

The peripheral interface may be used to connect at least one Input/Output (I/O) related peripheral to the processor and the memory. In some embodiments, the processor, memory, and peripheral interfaces are integrated on the same chip or circuit board; in some other embodiments, either or both of the processor, memory, and peripheral interface may be implemented on separate chips or circuit boards, which is not limiting in this embodiment.

The Radio Frequency circuit is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuit communicates with the communication network and other communication devices via electromagnetic signals. The radio frequency circuit converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit comprises: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuitry may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the world wide web, metropolitan area networks, intranets, generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuitry may also include NFC (Near Field Communication, short range wireless communication) related circuitry, which is not limited in this application.

The touch display screen is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. Touch display screens also have the ability to collect touch signals at or above the surface of the touch display screen. The touch signal may be input to the processor for processing as a control signal. The touch display is used to provide virtual buttons and/or virtual keyboards, also known as soft buttons and/or soft keyboards. In some embodiments, the touch display screen may be one, and a front panel of the terminal is provided; in other embodiments, the touch display screen may be at least two, and is respectively disposed on different surfaces of the terminal or in a folded design; in still other embodiments, the touch display may be a flexible display disposed on a curved surface or a folded surface of the terminal. Even more, the touch display screen may be arranged in an irregular pattern other than rectangular, i.e. a shaped screen. The touch display screen may be made of LCD (Liquid Crystal Display ), OLED (Organic Light-Emitting Diode) or other materials.

The camera assembly is used for acquiring images or videos. Optionally, the camera assembly includes a front camera and a rear camera. In general, a front camera is used for realizing video call or self-photographing, and a rear camera is used for realizing photographing of pictures or videos. In some embodiments, the number of the rear cameras is at least two, and the rear cameras are any one of a main camera, a depth camera and a wide-angle camera, so as to realize fusion of the main camera and the depth camera to realize a background blurring function, and fusion of the main camera and the wide-angle camera to realize a panoramic shooting function and a Virtual Reality (VR) shooting function. In some embodiments, the camera assembly may further include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.

The audio circuit is for providing an audio interface between the user and the terminal. The audio circuit may include a microphone and a speaker. The microphone is used for collecting sound waves of users and the environment, converting the sound waves into electric signals and inputting the electric signals to the processor for processing, or inputting the electric signals to the radio frequency circuit for realizing voice communication. For the purpose of stereo acquisition or noise reduction, a plurality of microphones can be respectively arranged at different parts of the terminal. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor or radio frequency circuitry into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, the audio circuit may also include a headphone jack.

The location component is used to locate the current geographic location of the terminal to enable navigation or LBS (Location Based Service, location based services). The positioning component may be a positioning component based on the united states GPS (Global Positioning System ), the chinese beidou system or the russian galileo system.

The power supply is used for supplying power to various components in the terminal. The power source may be alternating current, direct current, disposable or rechargeable. When the power source comprises a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the terminal further comprises one or more sensors. The one or more sensors include, but are not limited to: acceleration sensor, gyroscope sensor, pressure sensor, fingerprint sensor, optical sensor, and proximity sensor.

The acceleration sensor may detect the magnitudes of accelerations on three coordinate axes of a coordinate system established with the terminal. For example, an acceleration sensor may be used to detect the components of gravitational acceleration in three coordinate axes. The processor can control the touch display screen to display the user interface in a transverse view or a longitudinal view according to the gravitational acceleration signal acquired by the acceleration sensor. The acceleration sensor may also be used for the acquisition of motion data of a game or a user.

The gyroscope sensor can detect the body direction and the rotation angle of the terminal, and can be used for acquiring 3D (three-dimensional) actions of a user on the terminal in cooperation with the acceleration sensor. The processor can realize the following functions according to the data collected by the gyroscope sensor: motion sensing (e.g., changing UI according to a tilting operation by a user), image stabilization at shooting, game control, and inertial navigation.

The pressure sensor may be disposed at a side frame of the terminal and/or a lower layer of the touch display screen. When the pressure sensor is arranged on the side frame of the terminal, the holding signal of the terminal by the user can be detected, and the left-right hand identification or the quick operation can be performed according to the holding signal. When the pressure sensor is arranged at the lower layer of the touch display screen, the control of the operability control on the UI interface can be realized according to the pressure operation of the user on the touch display screen. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

The fingerprint sensor is used for collecting fingerprints of a user so as to identify the identity of the user according to the collected fingerprints. Upon identifying the user's identity as a trusted identity, the processor authorizes the user to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying for and changing settings, and the like. The fingerprint sensor may be provided on the front, back or side of the terminal. When the physical key or manufacturer Logo is arranged on the terminal, the fingerprint sensor can be integrated with the physical key or manufacturer Logo.

The optical sensor is used to collect the ambient light intensity. In one embodiment, the processor may control the display brightness of the touch display screen based on the intensity of ambient light collected by the optical sensor. Specifically, when the intensity of the ambient light is high, the display brightness of the touch display screen is increased; when the ambient light intensity is low, the display brightness of the touch display screen is reduced. In another embodiment, the processor may further dynamically adjust the shooting parameters of the camera assembly according to the intensity of the ambient light collected by the optical sensor.

Proximity sensors, also known as distance sensors, are typically provided on the front face of the terminal. The proximity sensor is used to collect the distance between the user and the front face of the terminal. In one embodiment, when the proximity sensor detects that the distance between the user and the front surface of the terminal is gradually reduced, the processor controls the touch display screen to switch from the bright screen state to the off screen state; when the proximity sensor detects that the distance between the user and the front surface of the terminal gradually increases, the processor controls the touch display screen to switch from the screen-off state to the screen-on state.

It will be appreciated by those skilled in the art that the structure shown in fig. 10 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or may employ a different arrangement of components.

Example five

In an exemplary embodiment, a computer readable storage medium is also provided, on which a computer program is stored, which program, when being executed by a processor, implements a method for dynamically planning an autonomous unloading trajectory of a loader as provided by all inventive embodiments of the present application.

Any combination of one or more computer readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

Example six

In an exemplary embodiment, an application program product is also provided that includes one or more instructions executable by a processor of the apparatus to perform a loader autonomous discharge trajectory dynamic planning method as described above.

Although embodiments of the invention have been disclosed above, they are not limited to the use listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. Therefore, the invention is not to be limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.

Claims

1. The utility model provides a loader independently unloads orbit dynamic programming system, its characterized in that, including first vision camera (1), second vision camera (2), laser radar (3), first displacement sensor (4), second displacement sensor (5) and the vehicle VCU with terminal (6) electric connection respectively, wherein:

the laser radar (3) is arranged at the top of the cab (11) and is used for acquiring the distance between the dump truck and the material pile and the point cloud information of the target dump truck and sending the information to the terminal (6);

The first vision camera (1) and the second vision camera (2) are symmetrically arranged at two sides of the laser radar (3) at the top of the cab (11) respectively, and are used for acquiring an external contour image of materials and a material pile which are contained in the bucket (10) and a complete dump truck form on a Y-Z cross section of a dump truck bin and sending the complete dump truck form to the terminal (6);

the first displacement sensor (4) is arranged on the rotating bucket oil cylinder (7) and is used for acquiring the expansion and contraction amount of the rotating bucket oil cylinder (7) and sending the expansion and contraction amount to the terminal (6);

the second displacement sensor (5) is arranged on the movable arm oil cylinder (8) and is used for acquiring the expansion and contraction amount of the movable arm oil cylinder (8) and sending the expansion and contraction amount to the terminal (6);

the vehicle VCU is arranged in the loader, and is used for acquiring the speed and the acceleration of the vehicle and the pressure load value of the rodless cavity of the movable arm oil cylinder (8) and sending the pressure load value to the terminal (6);

the terminal (6) is arranged in a cab (11) for:

acquiring the distance between the dump truck and the material pile, the point cloud information of the target dump truck, an external contour image of the material and the material pile which are arranged in the bucket (10) and a complete dump truck form on the Y-Z cross section of the dump truck bin, and acquiring a collision detection occupation grid diagram;

establishing a vehicle coordinate system, and obtaining a discharge angle of a final discharge posture and a hinging point coordinate of a movable arm (9) and a bucket (10) according to a loader kinematic model and the collision detection occupation grid diagram;

Determining a loader body displacement-time curve according to the vehicle speed, the acceleration, the unloading angle of the final unloading posture, the coordinate of the hinging point of the movable arm (9) and the bucket (10) and the total path length of the coordinate speed planning, and determining the total displacement travel of the movement of the movable arm oil cylinder (8) and the movement of the rotating bucket oil cylinder (7) in the unloading operation according to the unloading angle of the final unloading posture and the coordinate of the hinging point of the movable arm (9) and the bucket (10);

obtaining a displacement-time curve of the movable arm oil cylinder (8) according to the total displacement travel of the movable arm oil cylinder (8) in the unloading operation and the pressure load value of a rodless cavity of the movable arm oil cylinder (8);

determining a displacement-time curve of the rotating bucket cylinder (7) according to the total displacement travel of the motion of the rotating bucket cylinder (7) in the unloading operation and the unloading angle of the final unloading posture;

and obtaining an autonomous unloading track of the loader according to the displacement-time curve of the loader body, the displacement-time curve of the movable arm oil cylinder (8) and the displacement-time curve of the rotating bucket oil cylinder (7).

2. A method for dynamic planning of an autonomous discharge trajectory of a loader, applied to a terminal (6) in the system for dynamic planning of an autonomous discharge trajectory of a loader according to claim 1, characterized by comprising:

3. The method for dynamically planning an autonomous unloading trajectory of a loader according to claim 2, wherein the steps of obtaining the distance between the dumper and the material pile, the target dumper point cloud information, the external contour image of the material and the material pile contained in the bucket (10), and the complete dumper form on the Y-Z cross section of the dumper bin and obtaining the collision detection occupation grid map include:

Acquiring the distance between the dump truck and the material pile, the point cloud information of the target dump truck, and the external contour image of the material and the material pile in the bucket (10) to obtain the target dump truck pose information and the point cloud;

4. The method for dynamically planning an autonomous unloading trajectory of a loader according to claim 2, wherein the establishing a vehicle coordinate system, according to a loader kinematic model and the collision detection occupancy grid map, obtains an unloading angle of a final unloading posture and a hinge point coordinate of a boom (9) and a bucket (10), comprises:

establishing a vehicle coordinate system, presetting pose coordinate points of an initial movable arm (9) and a bucket (10) according to a loader kinematic model, and generating a key collision detection vector, wherein the key collision detection vector comprises: the truck hopper comprises a first vector, a second vector and a third vector, wherein the first vector points to the truck hopper edge in the direction perpendicular to the connecting line of the hinging point of the movable arm (9) and the loader body and the hinging point of the initial movable arm (9) and the bucket (10), the second vector points to the truck hopper edge in the direction perpendicular to the connecting line of the hinging point of the initial movable arm (9) and the bucket (10) and the outer lower edge of the bucket (10) and is downward from the hinging point of the initial movable arm (9) and the bucket (10);

updating the pose until a collision-free pose is generated;

and if not, obtaining the unloading angle of the final unloading posture and the hinging point coordinates of the movable arm (9) and the bucket (10) according to the current key collision detection vector.

5. The method for dynamically planning an autonomous discharge trajectory of a loader according to claim 4, wherein updating the pose until a collision-free pose is generated comprises:

when collision information is that the first vector collides, and the second vector and the third vector do not collide, translating an hinging point of the initial movable arm (9) and the bucket (10) along the negative direction of the Y axis;

when collision information is that the second vector collides, and the first vector and the third vector do not collide, translating an hinging point of the initial movable arm (9) and the bucket (10) along the positive direction of the Y axis;

and when the collision information is that the third vector collides and the first vector and the second vector do not collide or the first vector and the second vector collide, translating the hinging point of the initial movable arm (9) and the bucket (10) along the positive direction of the Z axis.

6. The method for dynamically planning the autonomous unloading trajectory of the loader according to claim 5, wherein the determining the total displacement travel of the motions of the boom cylinder (8) and the rotating bucket cylinder (7) in the unloading operation according to the unloading angle of the final unloading posture and the coordinates of the hinge point of the boom (9) and the bucket (10) comprises the following steps:

determining a final expected position of a movable arm oil cylinder and a final expected position of a rotating bucket oil cylinder in unloading work according to an unloading angle of the final unloading gesture and a hinge point coordinate of the movable arm (9) and the bucket (10);

and determining the total displacement travel of the movement of the movable arm cylinder (8) and the rotating bucket cylinder (7) in the unloading operation according to the current telescopic quantity position of the rotating bucket cylinder (7), the current telescopic quantity position of the movable arm cylinder (8), the final expected position of the movable arm cylinder in the unloading operation and the final expected position of the rotating bucket cylinder.

7. The method for dynamically planning an autonomous unloading trajectory of a loader according to claim 6, wherein the obtaining a displacement-time curve of the boom cylinder (8) according to the total displacement travel of the motion of the boom cylinder (8) and the pressure load value of the rodless cavity of the boom cylinder (8) in the unloading operation comprises:

determining a rodless cavity pressure load interval of the movable arm oil cylinder (8) according to the rodless cavity pressure load value of the movable arm oil cylinder (8);

Obtaining the motor rotating speed with the highest efficiency of the hydraulic motor according to the rodless cavity pressure load interval of the movable arm oil cylinder (8) and the hydraulic motor efficiency MAP;

obtaining the speed of a movable arm oil cylinder (8) according to the motor rotating speed with the highest efficiency of the hydraulic motor;

and obtaining a displacement-time curve of the movable arm oil cylinder (8) according to the total displacement travel of the movable arm oil cylinder (8) in the unloading operation and the speed of the movable arm oil cylinder (8).

8. The method for dynamically planning an autonomous unloading trajectory of a loader according to claim 7, wherein determining a displacement-time curve of the bucket cylinder (7) according to an unloading angle of a final unloading posture and a total displacement stroke of the bucket cylinder (7) in the unloading operation comprises:

And obtaining a displacement-time curve of the rotating bucket oil cylinder (7) according to the first cutting edge displacement-time curve and the second cutting edge displacement-time curve.

9. The utility model provides a loader independently unloads orbit dynamic programming device which characterized in that includes:

the sensing module is used for acquiring the distance between the dump truck and the material pile, the target dump truck point cloud information, an external contour image of the material and the material pile which are contained in the bucket (10) and a complete dump truck form on the Y-Z cross section of the dump truck bin and acquiring a collision detection occupation grid diagram;

the final unloading position planning module is used for establishing a vehicle coordinate system, and obtaining an unloading angle of the final unloading position and a hinging point coordinate of a movable arm (9) and a bucket (10) according to a loader kinematic model and the collision detection occupation grid diagram;

the loader running motion planning module is used for determining a loader body displacement-time curve according to the vehicle speed, the acceleration, the unloading angle of the final unloading posture, the coordinate of the hinging point of the movable arm (9) and the bucket (10) and the total path length of the coordinate speed planning, and determining the total displacement travel of the movement of the movable arm oil cylinder (8) and the rotating bucket oil cylinder (7) in the unloading operation according to the unloading angle of the final unloading posture and the coordinate of the hinging point of the movable arm (9) and the bucket (10);

The loader movable arm movement planning module is used for obtaining a movable arm oil cylinder (8) displacement-time curve according to the total displacement travel of the movable arm oil (8) cylinder movement and the pressure load value of a rodless cavity of the movable arm oil cylinder (8) in the unloading operation;

the loader rotating bucket movement planning module is used for determining a displacement-time curve of the rotating bucket cylinder (7) according to the total displacement travel of the movement of the rotating bucket cylinder (7) in the unloading operation and the unloading angle of the final unloading posture;

and the track fitting module is used for obtaining the autonomous unloading track of the loader according to the displacement-time curve of the loader body, the displacement-time curve of the movable arm oil cylinder (8) and the displacement-time curve of the rotating bucket oil cylinder (7).

10. A non-transitory computer readable storage medium, characterized in that instructions in the storage medium, when executed by a processor of a terminal, enable the terminal to perform the loader autonomous discharge trajectory dynamic planning method of any of claims 2 to 8.