Method for measuring and calculating lifting height during starting and operation of unmanned vehicle based on 3D model

Abstract

The invention relates to a method for measuring and calculating the lifting height during starting and operation of an unmanned vehicle based on a 3D model, and belongs to the technical field of unmanned vehicles. The method comprises the following steps: judging a material grabbing action or a material discharging action; then judging whether cross-reservoir-area operation is carried out or not; then, whether discharging is conducted across the reservoir area or not is judged, and if discharging is conducted across the reservoir area, the starting condition of a cart and a trolley of the unmanned travelling crane is that a lifting mechanism needs to be lifted to the height of a retaining wall; if discharging is not carried out in the warehouse-crossing area, the allowable starting height from the grabbing position to the discharging position and the discharging height from the grabbing position to the placing position need to be calculated, the grab bucket is lifted to the allowable starting height, the large and small vehicles start to walk, and when the large and small vehicles reach the discharging position and the grab bucket reaches the discharging height (without the sequence), the grab bucket is opened for discharging. According to the method, 3D modeling is adopted to reflect the stock level condition of the reservoir area in real time, and the starting height and the stopping height of the unmanned vehicle are more accurate by combining the operation characteristics of the four mechanisms of the unmanned vehicle and the regional division characteristics of the reservoir area model.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned vehicles, and in particular relates to a method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model. Background Art

[0002] At present, the main status and problems of unmanned driving technology are as follows: 1. Limitations of traditional operation: Traditional cranes usually require manual control, and their work efficiency and safety depend largely on the experience of the operator. In high-risk environments such as metal smelting, chemical industry, and construction sites, manual operation is not only labor-intensive, but also poses great safety hazards. With the development of modern intelligent production trends, this method of relying on manual operation can obviously no longer meet the needs of efficient and safe production.

[0003] 2. Integration of intelligent technology: In order to solve the limitations of traditional cranes, modern cranes have begun to integrate various intelligent technologies, such as operation path planning, status monitoring and other functions, to achieve autonomous operation of various mechanisms. The application of these intelligent technologies makes the operation of the crane more accurate and efficient, and also greatly improves the safety of the operation.

[0004] 3. Development of unmanned technology: With the continuous advancement of electronic information technology, fully electronic digital control systems have been more and more widely used in driving, promoting the development of driving towards unmanned. Unmanned technology can not only reduce labor costs, but also avoid human errors and improve work efficiency and safety.

[0005] In general, the technology of unmanned driving is mainly reflected in the limitations of traditional operations, the integration of intelligent technology, the development of unmanned technology, and the optimization of structural design. The development and application of these technologies provide a solid foundation for unmanned operation of driving and also provide broad development space for future intelligent production.

[0006] Although great progress has been made in the field of unmanned driving, there are still the following deficiencies in certain scenarios: 1. Complex operating environment, especially in the fields of metallurgy and chemical industry, under different production conditions, problems such as path planning and obstacle avoidance during operation still exist; 2. The compatibility between intelligent technology and driving characteristics has not reached an ideal level, resulting in unsatisfactory operating efficiency of unmanned driving; 3. How to reasonably divide the operating range for unmanned vehicles is also a problem that unmanned vehicles need to solve with the support of intelligent technology; Therefore, how to overcome the shortcomings of existing technologies is an urgent problem to be solved in the field of unmanned vehicle technology. Summary of the invention

[0007] The purpose of the present invention is to address the deficiencies of the prior art and to provide a method for measuring the lifting height of an unmanned crane when starting and operating based on a 3D model, so as to accurately obtain the height of the lifting mechanism during the start-up and operation of the crane, to ensure that the crane will not collide with the material surface or retaining wall during operation, and that the tipping angle of the grab bucket is kept within a reasonable range when grabbing the material surface slope.

[0008] To achieve the above purpose, the technical solution adopted by the present invention is as follows: The method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model includes the following steps: Step (1), determine whether it is a material grabbing action or a material releasing action; if it is a material grabbing action, execute step (2); if it is a material releasing action, execute step (3); Step (2), determine whether to operate across storage areas; if operating across storage areas, the start-up condition of the unmanned vehicle trolley is that the lifting mechanism needs to be lifted to the height of the retaining wall; when the trolley and trolley reach the grabbing point to perform the material grabbing action, the height of the lifting mechanism needs to be lowered to the height of the material surface at the grabbing point. If the height of the material surface at the grabbing point is higher than the limit height of the lifting mechanism, the action cannot be performed; Step (3) determines whether the material is discharged across storage areas. If it is discharged across storage areas, the starting condition of the unmanned vehicle trolley is that the lifting mechanism needs to be lifted to the height of the retaining wall. After the trolley and the trolley are started, the lifting mechanism continues to be lifted to the upper limit of the lifting height. If the material is not discharged across storage areas, it is necessary to calculate the allowable starting height from the grabbing position to the discharge position and the discharge height to the placement position. The lifting mechanism first runs to the allowable starting height, and the trolley and the trolley start to move until the trolley and the trolley reach the discharge position and the lifting mechanism is lifted to the discharge height, and then the discharge starts.

[0009] Furthermore, preferably, in step (2), if the judgment result is that an unmanned vehicle is operating in the same storage area, the current position of the vehicle and the area in which the current position is located, the current height of the lifting mechanism are obtained, and the material surface height at the current position is obtained from the 3D model; the difference between the current lifting mechanism height and the current material surface height is calculated to determine whether the grab bucket is stopped on the material surface.

[0010] Furthermore, preferably, if the grab stops on the material surface, the height of the target point, the height of the middle area between the starting point and the target point are obtained from the 3D model, and the maximum value M1 of these two heights is taken; according to the height of the grab, the lifting mechanism lifts the grab by half of its height to ensure that the grab is not in contact with the material surface at the current position and has a certain amount of room for movement, and that the lifting height cannot be greater than the lifting limit height. If the required lifting height is greater than the lifting limit, it is only lifted to the limit height. If the above maximum value is higher than the limit height of the crane lifting mechanism, the task cannot be executed. If the maximum value M1 is lower than the limit height of the lifting mechanism, the trolley and car mechanisms of the crane start to move.

[0011] Furthermore, preferably, if the grab bucket does not stop on the material surface, the height of the target point and the height of the middle area between the starting point and the target point are obtained from the 3D model, and the maximum value M2 of the two heights is taken; if the current lifting height is lower than the maximum value M2, the selected area is divided according to the diagonal coordinates of the current position and the position with the highest height, and then the selected area is divided according to the diagonal coordinates of the current position and the position with the highest height. Figure 3 Take the rows included in the selected area in the warehouse area schematic diagram shown, obtain the highest height of each row from the 3D model, divide the height ladder, and establish a rectangular coordinate system with the trolley position at each height position in the height ladder as the y-axis, the material surface height as the z-axis, and the lifting limit as the 0 point, as shown in Figure 2 As shown; in the coordinate system, connect the maximum value of the highest height in each row in the selected area + half of the driving height and the allowed starting height, connect the z-axis allowed starting height z coordinate and the y-axis maximum height y coordinate to form a triangle, and find the z-axis coordinate when the z-axis angle is 45° (unknown). At this time, an isosceles right triangle is formed, then the y-coordinate of the highest height position is equal to the z-axis coordinate, and this z-coordinate is the allowed starting height of the crane; according to the calculation results, compare the calculated allowed starting height with the driving limit height. If the allowed starting height is less than the limit height, the lifting mechanism is lifted to the allowed starting height, and the trolley and car mechanism start to move, otherwise the task cannot be executed; if the current lifting height is higher than the maximum value M2, the driving trolley and car start to move.

[0012] Furthermore, preferably, in step (3), the lifting height allowed for the crane and trolley of the material discharge action is calculated, and an area is selected based on the diagonal coordinates of the starting point and the end point according to the coordinate data of the warehouse area model, and then the lifting height is calculated based on the starting point and the end point in the selected area. Figure 3 The warehouse area schematic diagram shown is divided into rows. The maximum height of each row is obtained from the 3D model. The trolley position at the maximum height position of each row is taken as the y-axis, the material surface height is taken as the z-axis, and the lifting limit is taken as 0 to establish a rectangular coordinate system. The maximum value of the highest height in each row in the selected area + half of the crane height and the allowable starting height are connected in the coordinate system. The z-coordinate of the z-axis allowable starting height and the y-coordinate of the y-axis maximum height are connected to form a triangle. The z-axis coordinate (unknown) is calculated when the z-axis angle is 45°. At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate. This z-coordinate is the allowable starting height of the crane. According to the calculation results, the calculated allowable starting height is compared with the crane limit height. If the allowable starting height is less than the limit height, the lifting mechanism is lifted to the allowable starting height, and the trolley and trolley mechanisms start to move. Otherwise, the action cannot be executed.

[0013] Further, preferably, in step (3), if the discharge position is at the material port, the discharge height of the crane is calculated; the highest height of the material port area is obtained from the 3D model, and the highest height of the material port area is compared with the fixed height of the material port. The highest height of the material port area is the highest height of the material surface in the material stacking area around the material port, and the fixed height of the material port is the height of the material port. Figure 1 The feed inlet position is marked in the figure, and the feed inlet area is divided as follows: Figure 3 As shown; if the fixed height of the material inlet is less than the highest height of the material inlet area, the material discharge height of the lifting mechanism is the highest height of the material inlet area + half of the grab height, otherwise the material discharge height of the lifting mechanism is the fixed height of the material inlet + half of the grab height; if the material discharge height is higher than the limit height of the lifting mechanism, the action cannot be performed; Furthermore, preferably, in step (3), if the discharge position is at another position in the storage area, the highest height of the placement position area is obtained from the 3D model, and the stop height of the lifting mechanism is the highest height of the placement position area + half of the grab height. If the height of the highest height of the placement position area + half of the grab height is greater than the lifting limit height, the action cannot be performed.

[0014] Further, preferably, the method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model comprises the following steps: Step (1), before issuing the task instruction, determine whether it is a material grabbing action or a material placing action; if it is a material grabbing action, execute step (2); if it is a material placing action, execute step (3); Step (2), if it is a material grabbing action, determine whether it is a cross-storage operation, obtain the current coordinates of the unmanned vehicle from the equipment, and determine whether it is a cross-storage operation based on the current vehicle mechanism coordinates Xs and the vehicle mechanism target position Xe; Xe is the current position coordinate of the vehicle mechanism, and Xe is the target position coordinate of the vehicle mechanism; According to the current trolley mechanism coordinates and the target position trolley mechanism coordinates, determine which storage area's starting point and end point are respectively within the range. Assume that the starting point x coordinate of storage area 1 is X1s and the end point x coordinate is X1e, and the starting point x coordinate of storage area 2 is X2s and the end point x coordinate is X2e. If Xs≥X1s and Xs≤X1e, Xe≥X1s and Xe≤X1e, it is in the same storage area; if Xs≥X1s and Xs≤X1e, Xe≥X2s and Xe≤X2e, it is across storage areas. (2.1) If the operation is across the storage area, the lifting mechanism needs to be raised to the height of the retaining wall, and the unmanned vehicle and trolley mechanism are allowed to start and go to the material grabbing point; The unmanned vehicle and trolley arrive at the material grabbing point, and the lifting mechanism descends to the material surface at the material grabbing point. The material surface height is calculated based on the coordinates of the center point of the grabbing position (Xw, Yw), combined with the length a and width b parameters of the grab bucket, and the diagonal coordinates X1, Y1, X2, and Y2 of the grid boundary of the grabbing position are calculated. The height of the grabbing point is obtained from the 3D model of the storage area using the grid diagonal coordinates. The calculation formula for the diagonal coordinates of the boundary and the formula for obtaining the height Z are as follows: X1 = Xw + a / 2 Formula 1; Y1 = Yw – b / 2 Equation 2; X2 = Xw – a / 2 Formula 3; Y2 = Xw + b / 2 Equation 4; Z = F(X1, Y1, X2, Y2) Equation 5; Xw is the x coordinate of the center point of the material grabbing position; Yw is the y coordinate of the center point of the material grabbing position; X1 and X2 are the x coordinates of the center point of the grab position, which are the diagonal x coordinates of the grab when it is opened, calculated based on the length a and width b of the grab and the above formulas 1 and 3; Y1 and Y2 are the diagonal y coordinates of the grabbing bucket when it is opened, which are obtained based on the length a and width b of the grabbing bucket and the above formulas 2 and 4. Z is the highest height of the material surface at the material grabbing position obtained from the 3D model; Before the action is executed, the maximum height of the material surface at the current position and the material grabbing position is obtained from the 3D model according to the coordinates of the current position of the unmanned vehicle and the material grabbing position. If the highest height of the area between the current position of the unmanned vehicle and the material grabbing point is greater than the limit height of the lifting mechanism, the unmanned vehicle cannot avoid it and the action cannot be executed. (2.2) If the operation is in the same storage area, the height of the lifting mechanism and the material grabbing height allowed to be started by the unmanned vehicle trolley mechanism need to be calculated based on the current position of the vehicle and the material surface height of the storage area; When the crane starts, determine whether the grab bucket stops on the material surface; If the grab bucket stops on the material surface, the lifting mechanism needs to first lift the grab bucket to half of its height. If the half of the grab bucket height lifted is higher than the lifting limit height, it will only be lifted to the lifting limit height, and the trolley and carriage mechanisms will start; If the grab bucket does not stop on the material surface, it is necessary to calculate the height at which the crane can be started, select an area with the diagonal coordinates of the grab starting point and the grab end point, and then calculate the height of the grab bucket within the selected area according to the following formula: Figure 3Take the rows included in the selected area in the warehouse area schematic diagram shown, obtain the maximum height of each row from the 3D model, establish a rectangular coordinate system with the trolley position at the maximum height position of each row as the y-axis, the material surface height as the z-axis, and the lifting limit as 0. In the coordinate system, connect the maximum value of the highest height in each row in the selected area + half of the crane height and the allowable starting height, connect the z-axis allowable starting height z-coordinate and the y-axis maximum height y-coordinate to form a triangle, and calculate the z-axis coordinate when the z-axis angle is 45° (unknown). At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate, and this z-coordinate is the allowable starting height of the crane; according to the calculation results, compare the calculated allowable starting height with the crane limit height. If the allowable starting height is less than the limit height, the lifting mechanism is lifted to the allowable starting height, and the trolley and trolley mechanisms start to move. Otherwise, the task cannot be executed.

[0015] Step (3), material discharge step (3), determining whether the material is discharged across storage areas; If the material is to be discharged across storage areas, the lifting mechanism needs to be raised to the height of the retaining wall, and the unmanned vehicle trolley and car mechanism are allowed to start and go to the discharge point for operation; when the trolley and car arrive at the discharge point, if the height of the discharge point is higher than the limit height of the lifting mechanism, the task cannot be performed; If the material is not discharged across storage areas, it is necessary to calculate the height at which the crane is allowed to start, select an area with the diagonal coordinates of the discharge starting point and the discharge end point, and then follow the Figure 3 Take the rows included in the selected area in the schematic diagram of the warehouse area shown, obtain the maximum height of each row from the 3D model, establish a rectangular coordinate system with the trolley position at the maximum height position of each row as the y-axis, the material surface height as the z-axis, and the lifting limit as 0. In the coordinate system, connect the maximum value of the highest height in each row in the selected area + half of the crane height and the allowed starting height, connect the z-axis allowed starting height z-coordinate and the y-axis maximum height y-coordinate to form a triangle, and calculate the z-axis coordinate when the z-axis angle is 45° (unknown). At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate, and this z-coordinate is the allowed starting height of the crane; according to the calculation results, compare the calculated allowed starting height with the crane limit height. If the allowed starting height is less than the limit height, the lifting mechanism is lifted to the allowed starting height, and the trolley and trolley mechanisms start to move. Otherwise, the task cannot be executed; Then, according to the coordinates of the material discharge position, it is determined whether it is in the material port area or other areas in the storage area; If the discharge position is in the material port area, obtain the highest height of the material port area from the 3D model. Compare the highest height of the material port area with the fixed height of the material port. The highest height of the material port area is the highest height of the material surface in the material stacking area around the material port. The fixed height of the material port is the height of the material port. Figure 1 The feed inlet position is marked in the figure, and the feed inlet area is divided as follows: Figure 3As shown; if the fixed height of the material inlet is less than the highest height of the material inlet area, the material discharge height of the lifting mechanism is the highest height of the material inlet area + half of the grab height, otherwise the material discharge height of the lifting mechanism is the fixed height of the material inlet + half of the grab height. If the material discharge height is higher than the limit height of the lifting mechanism, the action cannot be performed; If the discharge position is in other areas within the warehouse, the highest height of the placement position area obtained from the 3D model and the lifting mechanism stop height are the highest height of the placement position area + half of the grab height. If the highest height of the placement position area + half of the grab height is greater than the lifting limit height, the action cannot be performed.

[0016] Further, preferably, in step (2.2), When the crane starts, it is determined whether the grab bucket stops on the material surface. The determination method is to obtain the current lifting mechanism height Za of the crane from the equipment, obtain the material surface height Z of the current parking position from the 3D model of the storage area, calculate the difference between Za and Z, and when the difference is less than half of the grab bucket height, it is determined to be stopped on the material surface.

[0017] In the present invention, the 3D model is existing, and the present invention does not impose any specific limitation on this.

[0018] In the present invention, the diagonal coordinates divide the selected area, and the selected area is a rectangle. After determining the coordinates of the two diagonal points of the rectangle, the range of the rectangular area can be known.

[0019] In the present invention, the coordinate data of the reservoir area model is existing, and the present invention does not impose any specific limitation on this.

[0020] The present invention combines the 3D model, fully considers the actual changes of the material surface during the operation of the unmanned vehicle, and the operating characteristics of the four mechanisms of the vehicle, the trolley, the lifting and the grab bucket, so as to solve the problem that the material surface changes in real time during the operation of the unmanned vehicle, resulting in untimely obstacle avoidance or the unmanned vehicle needs to spend a longer time to reach a safe height for the obstacle avoidance lifting mechanism. The four mechanisms of the unmanned vehicle can reach the condition of simultaneous operation of the four mechanisms in the shortest time without collision, thereby improving the operating efficiency of the unmanned vehicle. The changes in the time used for each bucket of the unmanned vehicle in actual use are shown in Table 2.

[0021] The present invention discloses a method for measuring the lifting, running and stopping heights of unmanned vehicles based on a 3D model. 3D modeling is used to reflect the material surface conditions in the storage area in real time. Combined with the operating characteristics of the four mechanisms of the unmanned vehicle and the regional division characteristics of the storage area model, the starting height and stopping height of the unmanned vehicle are made more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the 3D model; Figure 2 To allow the activation of a highly rectangular coordinate system; Figure 3 This is a schematic diagram of the reservoir area model; Figure 4 The present invention is a flow chart of a method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model. DETAILED DESCRIPTION

[0023] The present invention is further described in detail below in conjunction with embodiments.

[0024] Those skilled in the art will appreciate that the following examples are only used to illustrate the present invention and should not be considered to limit the scope of the present invention. If no specific techniques or conditions are specified in the examples, the techniques or conditions described in the literature in the art or the product specifications are used. If the manufacturer of the materials or equipment used is not specified, they are all conventional products that can be purchased. Example

[0025] The method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model includes the following steps: Step (1), determine whether it is a material grabbing action or a material releasing action; if it is a material grabbing action, execute step (2); if it is a material releasing action, execute step (3); Step (2), determine whether to operate across storage areas; if operating across storage areas, the start-up condition of the unmanned vehicle trolley is that the lifting mechanism needs to be lifted to the height of the retaining wall; when the trolley and trolley reach the grabbing point to perform the material grabbing action, the height of the lifting mechanism needs to be lowered to the height of the material surface at the grabbing point. If the height of the material surface at the grabbing point is higher than the limit height of the lifting mechanism, the action cannot be performed; Step (3) determines whether the material is discharged across storage areas. If it is discharged across storage areas, the starting condition of the unmanned vehicle trolley is that the lifting mechanism needs to be lifted to the height of the retaining wall. After the trolley and the trolley are started, the lifting mechanism continues to be lifted to the upper limit of the lifting height. If the material is not discharged across storage areas, it is necessary to calculate the allowable starting height from the grabbing position to the discharge position and the discharge height to the placement position. The lifting mechanism first runs to the allowable starting height, and the trolley and the trolley start to move until the trolley and the trolley reach the discharge position and the lifting mechanism is lifted to the discharge height, and then the discharge starts. Example

[0026] The method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model includes the following steps: Step (1), determine whether it is a material grabbing action or a material releasing action; if it is a material grabbing action, execute step (2); if it is a material releasing action, execute step (3); Step (2), determine whether to operate across storage areas; if operating across storage areas, the start-up condition of the unmanned vehicle trolley is that the lifting mechanism needs to be lifted to the height of the retaining wall; when the trolley and trolley reach the grabbing point to perform the material grabbing action, the height of the lifting mechanism needs to be lowered to the height of the material surface at the grabbing point. If the height of the material surface at the grabbing point is higher than the limit height of the lifting mechanism, the action cannot be performed; Step (3) determines whether the material is discharged across storage areas. If it is discharged across storage areas, the starting condition of the unmanned vehicle trolley is that the lifting mechanism needs to be lifted to the height of the retaining wall. After the trolley and the trolley are started, the lifting mechanism continues to be lifted to the upper limit of the lifting height. If the material is not discharged across storage areas, it is necessary to calculate the allowable starting height from the grabbing position to the discharge position and the discharge height to the placement position. The lifting mechanism first runs to the allowable starting height, and the trolley and the trolley start to move until the trolley and the trolley reach the discharge position and the lifting mechanism is lifted to the discharge height, and then the discharge starts.

[0027] In step (2), if the judgment result is that the unmanned vehicle is operating in the same storage area, the current position of the vehicle and the area where the current position is located, the current height of the lifting mechanism are obtained, and the material surface height at the current position is obtained from the 3D model; the difference between the current lifting mechanism height and the current material surface height is calculated to determine whether the grab bucket is stopped on the material surface.

[0028] If the grab stops on the material surface, obtain the target point height, the height of the middle area between the starting point and the target point from the 3D model, and take the maximum value M1 of these two heights; according to the height of the grab, the lifting mechanism lifts the grab by half of its height to ensure that the grab is not in contact with the material surface at the current position and has a certain amount of space for movement, and that the lifting height cannot be greater than the lifting limit height. If the required lifting height is greater than the lifting limit, it is only lifted to the limit height. If the above maximum value is higher than the limit height of the crane lifting mechanism, the task cannot be executed. If the maximum value M1 is lower than the limit of the lifting mechanism, the trolley and car mechanisms of the crane start to move.

[0029] If the grab does not stop on the material surface, obtain the target point height and the height of the area between the starting point and the target point from the 3D model, and take the maximum value M2 of these two heights; if the current lifting height is lower than the maximum value M2, divide the selected area according to the diagonal coordinates of the current position and the position with the highest height, and then divide the selected area according to the diagonal coordinates of the current position and the position with the highest height. Figure 3 Take the rows included in the selected area in the warehouse area schematic diagram shown, obtain the highest height of each row from the 3D model, divide the height ladder, and establish a rectangular coordinate system with the trolley position at each height position in the height ladder as the y-axis, the material surface height as the z-axis, and the lifting limit as the 0 point, as shown in Figure 2As shown; in the coordinate system, connect the maximum value of the highest height in each row in the selected area + half of the driving height and the allowed starting height, connect the z-axis allowed starting height z coordinate and the y-axis maximum height y coordinate to form a triangle, and find the z-axis coordinate when the z-axis angle is 45° (unknown). At this time, an isosceles right triangle is formed, then the y-coordinate of the highest height position is equal to the z-axis coordinate, and this z-coordinate is the allowed starting height of the crane; according to the calculation results, compare the calculated allowed starting height with the driving limit height. If the allowed starting height is less than the limit height, the lifting mechanism is lifted to the allowed starting height, and the trolley and car mechanism start to move, otherwise the task cannot be executed; if the current lifting height is higher than the maximum value M2, the driving trolley and car start to move.

[0030] In step (3), the lifting height allowed for the crane and trolley of the material unloading action is calculated. According to the coordinate data of the warehouse model, an area is selected with the diagonal coordinates of the starting point and the end point, and then the lifting height is calculated according to the following formula: Figure 3 The warehouse area schematic diagram shown is divided into rows. The maximum height of each row is obtained from the 3D model. The trolley position at the maximum height position of each row is taken as the y-axis, the material surface height is taken as the z-axis, and the lifting limit is taken as 0 to establish a rectangular coordinate system. The maximum value of the highest height in each row in the selected area + half of the crane height and the allowable starting height are connected in the coordinate system. The z-coordinate of the z-axis allowable starting height and the y-coordinate of the y-axis maximum height are connected to form a triangle. The z-axis coordinate (unknown) is calculated when the z-axis angle is 45°. At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate. This z-coordinate is the allowable starting height of the crane. According to the calculation results, the calculated allowable starting height is compared with the crane limit height. If the allowable starting height is less than the limit height, the lifting mechanism is lifted to the allowable starting height, and the trolley and trolley mechanisms start to move. Otherwise, the action cannot be executed.

[0031] In step (3), if the discharge position is at the material port, calculate the discharge height of the crane; obtain the highest height of the material port area from the 3D model, and compare the highest height of the material port area with the fixed height of the material port. The highest height of the material port area is the highest height of the material surface in the material stacking area around the material port, and the fixed height of the material port is the height of the material port. Figure 1 The feed inlet position is marked in the figure, and the feed inlet area is divided as follows: Figure 3 As shown; if the fixed height of the material inlet is less than the highest height of the material inlet area, the material discharge height of the lifting mechanism is the highest height of the material inlet area + half of the grab height, otherwise the material discharge height of the lifting mechanism is the fixed height of the material inlet + half of the grab height; if the material discharge height is higher than the limit height of the lifting mechanism, the action cannot be performed; In step (3), if the discharge position is at another location in the storage area, the highest height of the placement position area is obtained from the 3D model, and the stop height of the lifting mechanism is the highest height of the placement position area + half of the grab height. If the height of the highest height of the placement position area + half of the grab height is greater than the lifting limit height, the action cannot be performed.

[0032] The method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model includes the following steps: Step (1), before issuing the task instruction, determine whether it is a material grabbing action or a material placing action; if it is a material grabbing action, execute step (2); if it is a material placing action, execute step (3); Step (2), if it is a material grabbing action, determine whether it is a cross-storage operation, obtain the current coordinates of the unmanned vehicle from the equipment, and determine whether it is a cross-storage operation based on the current vehicle mechanism coordinates Xs and the vehicle mechanism target position Xe; Xe is the current position coordinate of the vehicle mechanism, and Xe is the target position coordinate of the vehicle mechanism; According to the current trolley mechanism coordinates and the target position trolley mechanism coordinates, determine which storage area's starting point and end point are respectively within the range. Assume that the starting point x coordinate of storage area 1 is X1s and the end point x coordinate is X1e, and the starting point x coordinate of storage area 2 is X2s and the end point x coordinate is X2e. If Xs≥X1s and Xs≤X1e, Xe≥X1s and Xe≤X1e, it is in the same storage area; if Xs≥X1s and Xs≤X1e, Xe≥X2s and Xe≤X2e, it is across storage areas. (2.1) If the operation is across the storage area, the lifting mechanism needs to be raised to the height of the retaining wall, and the unmanned vehicle and trolley mechanism are allowed to start and go to the material grabbing point; The unmanned vehicle and trolley arrive at the material grabbing point, and the lifting mechanism descends to the material surface at the material grabbing point. The material surface height is calculated based on the coordinates of the center point of the grabbing position (Xw, Yw), combined with the length a and width b parameters of the grab bucket, and the diagonal coordinates X1, Y1, X2, and Y2 of the grid boundary of the grabbing position are calculated. The height of the grabbing point is obtained from the 3D model of the storage area using the grid diagonal coordinates. The calculation formula for the diagonal coordinates of the boundary and the formula for obtaining the height Z are as follows: X1 = Xw + a / 2 Formula 1; Y1 = Yw – b / 2 Equation 2; X2 = Xw – a / 2 Formula 3; Y2 = Xw + b / 2 Equation 4; Z = F(X1, Y1, X2, Y2) Equation 5; Xw is the x coordinate of the center point of the material grabbing position; Yw is the y coordinate of the center point of the material grabbing position; X1 and X2 are the x coordinates of the center point of the grab position, which are the diagonal x coordinates of the grab when it is opened, calculated based on the length a and width b of the grab and the above formulas 1 and 3; Y1 and Y2 are the diagonal y coordinates of the grabbing bucket when it is opened, which are obtained based on the length a and width b of the grabbing bucket and the above formulas 2 and 4. Z is the highest height of the material surface at the material grabbing position obtained from the 3D model; Before the action is executed, the maximum height of the material surface at the current position and the material grabbing position is obtained from the 3D model according to the coordinates of the current position of the unmanned vehicle and the material grabbing position. If the highest height of the area between the current position of the unmanned vehicle and the material grabbing point is greater than the limit height of the lifting mechanism, the unmanned vehicle cannot avoid it and the action cannot be executed. (2.2) If the operation is in the same storage area, the height of the lifting mechanism and the material grabbing height allowed to be started by the unmanned vehicle trolley mechanism need to be calculated based on the current position of the vehicle and the material surface height of the storage area; When the crane starts, determine whether the grab bucket stops on the material surface; If the grab bucket stops on the material surface, the lifting mechanism needs to first lift the grab bucket to half of its height. If the half of the grab bucket height lifted is higher than the lifting limit height, it will only be lifted to the lifting limit height, and the trolley and carriage mechanisms will start; If the grab bucket does not stop on the material surface, it is necessary to calculate the height at which the crane can be started, select an area with the diagonal coordinates of the grab starting point and the grab end point, and then calculate the height of the grab bucket within the selected area according to the following formula: Figure 3 Take the rows included in the selected area in the warehouse area schematic diagram shown, obtain the maximum height of each row from the 3D model, establish a rectangular coordinate system with the trolley position at the maximum height position of each row as the y-axis, the material surface height as the z-axis, and the lifting limit as 0. In the coordinate system, connect the maximum value of the highest height in each row in the selected area + half of the crane height and the allowable starting height, connect the z-axis allowable starting height z-coordinate and the y-axis maximum height y-coordinate to form a triangle, and calculate the z-axis coordinate when the z-axis angle is 45° (unknown). At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate, and this z-coordinate is the allowable starting height of the crane; according to the calculation results, compare the calculated allowable starting height with the crane limit height. If the allowable starting height is less than the limit height, the lifting mechanism is lifted to the allowable starting height, and the trolley and trolley mechanisms start to move. Otherwise, the task cannot be executed.

[0033] Step (3), material discharge step (3), determining whether the material is discharged across storage areas; If the material is to be discharged across storage areas, the lifting mechanism needs to be raised to the height of the retaining wall, and the unmanned vehicle trolley and car mechanism are allowed to start and go to the discharge point for operation; when the trolley and car arrive at the discharge point, if the height of the discharge point is higher than the limit height of the lifting mechanism, the task cannot be performed; If the material is not discharged across storage areas, it is necessary to calculate the height at which the crane is allowed to start, select an area with the diagonal coordinates of the discharge starting point and the discharge end point, and then follow the Figure 3 Take the rows included in the selected area in the schematic diagram of the warehouse area shown, obtain the maximum height of each row from the 3D model, establish a rectangular coordinate system with the trolley position at the maximum height position of each row as the y-axis, the material surface height as the z-axis, and the lifting limit as 0. In the coordinate system, connect the maximum value of the highest height in each row in the selected area + half of the crane height and the allowed starting height, connect the z-axis allowed starting height z-coordinate and the y-axis maximum height y-coordinate to form a triangle, and calculate the z-axis coordinate when the z-axis angle is 45° (unknown). At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate, and this z-coordinate is the allowed starting height of the crane; according to the calculation results, compare the calculated allowed starting height with the crane limit height. If the allowed starting height is less than the limit height, the lifting mechanism is lifted to the allowed starting height, and the trolley and trolley mechanisms start to move. Otherwise, the task cannot be executed; Then, according to the coordinates of the material discharge position, it is determined whether it is in the material port area or other areas in the storage area; If the discharge position is in the material port area, obtain the highest height of the material port area from the 3D model. Compare the highest height of the material port area with the fixed height of the material port. The highest height of the material port area is the highest height of the material surface in the material stacking area around the material port. The fixed height of the material port is the height of the material port. Figure 1 The feed inlet position is marked in the figure, and the feed inlet area is divided as follows: Figure 3 As shown; if the fixed height of the material inlet is less than the highest height of the material inlet area, the material discharge height of the lifting mechanism is the highest height of the material inlet area + half of the grab height, otherwise the material discharge height of the lifting mechanism is the fixed height of the material inlet + half of the grab height. If the material discharge height is higher than the limit height of the lifting mechanism, the action cannot be performed; If the discharge position is in other areas within the warehouse, the highest height of the placement position area obtained from the 3D model and the lifting mechanism stop height are the highest height of the placement position area + half of the grab height. If the highest height of the placement position area + half of the grab height is greater than the lifting limit height, the action cannot be performed.

[0034] In step (2.2), when the crane is started, it is determined whether the grab bucket stops on the material surface. The determination method is to obtain the current lifting mechanism height Za of the crane from the equipment, obtain the material surface height Z of the current parking position from the 3D model of the storage area, calculate the difference between Za and Z, and when the difference is less than half of the grab bucket height, it is determined to be stopped on the material surface. Example

[0035] The method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model includes the following steps: Step (1), determining whether it is a material grabbing action or a material releasing action; Further, if it is a material grabbing action, execute step (2); if it is a material releasing action, execute step (3); Step (2), determine whether to operate across storage areas; if operating across storage areas, the start-up condition of the unmanned vehicle trolley is that the lifting mechanism needs to be lifted to the height of the retaining wall; when the trolley and trolley reach the grabbing point to perform the material grabbing action, the height of the lifting mechanism needs to be lowered to the height of the material surface at the grabbing point. If the height of the material surface at the grabbing point is higher than the limit height of the lifting mechanism, the action cannot be performed; Furthermore, the unmanned vehicle operates in the same warehouse area, obtains the current position of the vehicle and the area where the current position is located, the current height of the lifting mechanism from the equipment, and obtains the current position material surface height from the 3D model. The schematic diagram of the 3D model is as follows Figure 1 As shown; calculate the difference between the current lifting mechanism height and the current material surface height to determine whether the grab bucket stops on the material surface; Furthermore, if the grab stops on the material surface, the height of the target point and the height of the area between the starting point and the target point are obtained from the 3D model, and the maximum value of these two heights is taken; Further, according to the height of the grab bucket in the table of the driving parameters in Table 1, the lifting mechanism lifts the grab bucket up to half of its height, ensuring that the grab bucket does not touch the material surface at the current position and has a certain amount of space for movement, and that the lifting height cannot be greater than the lifting limit height. If the required lifting height is greater than the lifting limit, it is only lifted to the limit height. If the above maximum value is higher than the limit height of the driving lifting mechanism, in order to ensure the safe operation of the driving, the task cannot be executed. If the above maximum value is lower than the limit of the lifting mechanism, the trolley and car mechanisms of the driving start to move. Furthermore, if the grab does not stop on the material surface, the height of the target point and the height of the area between the starting point and the target point are obtained from the 3D model, and the maximum value of these two heights is taken; Furthermore, if the current lifting height is lower than the maximum value M2, the selected area is divided according to the diagonal coordinates of the current position and the position with the highest height, and then the selected area is divided according to the diagonal coordinates of the current position and the position with the highest height. Figure 3 Take the rows included in the selected area in the warehouse area schematic diagram shown, obtain the highest height of each row from the 3D model, divide the height ladder, and establish a rectangular coordinate system with the trolley position at each height position in the height ladder as the y-axis, the material surface height as the z-axis, and the lifting limit as the 0 point, as shown in Figure 2As shown; connect the maximum value of the highest height in each row in the selected area in the coordinate system + half of the driving height and the allowed starting height, connect the z-axis allowed starting height z coordinate and the y-axis highest height y coordinate to form a triangle, and find the z-axis coordinate when the z-axis angle is 45° (unknown). At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate. This z-coordinate is the allowed starting height of the driving; according to the calculation results, compare the calculated allowed starting height with the driving limit height. If the allowed starting height is less than the limit height, the lifting mechanism is lifted to the allowed starting height, and the trolley and car mechanism start to move. Otherwise, the task cannot be executed; if the current lifting height is higher than the maximum value M2, the driving trolley and car start to move; Step (3), judging whether the material is discharged across storage areas, judging whether the material is discharged across storage areas, is the same as step (2); Furthermore, when discharging materials across the storage area, the height of the lifting mechanism for starting the large and small vehicles is the height of the retaining wall; Furthermore, for non-cross-storage area material discharge, the allowable starting height from the material grabbing position to the material discharge position and the material discharge height to the placement position need to be calculated; Furthermore, the lifting height allowed for the crane and trolley of the material unloading action is calculated. According to the coordinate data of the warehouse model, an area is selected with the diagonal coordinates of the starting point and the end point, and then the lifting height is calculated according to the coordinates of the starting point and the end point in the selected area. Figure 3 Take the rows included in the selected area in the warehouse area schematic diagram shown, obtain the maximum height of each row from the 3D model, establish a rectangular coordinate system with the trolley position at the maximum height position of each row as the y-axis, the material surface height as the z-axis, and the lifting limit as 0. In the coordinate system, connect the maximum value of the highest height in each row in the selected area + half of the crane height and the allowable starting height, connect the z-axis allowable starting height z-coordinate and the y-axis maximum height y-coordinate to form a triangle, and calculate the z-axis coordinate when the z-axis angle is 45° (unknown). At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate, and this z-coordinate is the allowable starting height of the crane; according to the calculation results, compare the calculated allowable starting height with the crane limit height. If the allowable starting height is less than the limit height, the lifting mechanism is lifted to the allowable starting height, and the trolley and trolley mechanisms start to move. Otherwise, the action cannot be executed.

[0036] Furthermore, if the material discharge position is at the material port, the material discharge height of the crane is calculated; Furthermore, the highest height of the material inlet area is obtained from the 3D model. The highest height of the material inlet area is compared with the fixed height of the material inlet. The highest height of the material inlet area is the highest height of the material surface in the material stacking area around the material inlet. The fixed height of the material inlet is the height of the material inlet. Figure 1 The feed inlet position is marked in the figure, and the feed inlet area is divided as follows: Figure 3As shown; if the fixed height of the material inlet is less than the highest height of the material inlet area, the material discharge height of the lifting mechanism is the highest height of the material inlet area + half of the grab height, otherwise the material discharge height of the lifting mechanism is the fixed height of the material inlet + half of the grab height; if the material discharge height is higher than the limit height of the lifting mechanism, the action cannot be performed; Furthermore, if the discharge position is at other locations in the storage area, the highest height of the placement position area is obtained from the 3D model, and the stop height of the lifting mechanism is the highest height of the placement position area + half of the grab height. If the height of the highest height of the placement position area + half of the grab height is greater than the lifting limit height, the action cannot be performed; The present invention introduces a method for measuring the lifting, running and stopping heights of unmanned vehicles based on a 3D model. Before each mechanism of the vehicle moves, the real-time situation of the material surface is obtained from the 3D model, the status of the lifting and grab bucket is analyzed, and the height that the lifting mechanism needs to reach when the vehicle and truck are started is judged and calculated according to the lifting and grab bucket status, effectively avoiding the situation where the grab bucket scrapes the material surface and collides with the retaining wall during the operation of the vehicle and truck.

[0037] like Figure 4 The flow chart for calculating the lifting start and operating height is shown below: Step (1) Before issuing the task instruction, determine whether it is a material grabbing action or a material releasing action; Furthermore, if it is a material grabbing action, determine whether it is a cross-storage operation, obtain the current coordinates of the unmanned vehicle from the equipment, and determine whether it is a cross-storage operation based on the current vehicle mechanism coordinates (Xs) and the vehicle mechanism target position (Xe). Figure 3 Schematic diagram of the storage area model. According to the current trolley mechanism coordinates and the target position trolley mechanism coordinates, determine which storage area's starting point and end point are respectively within the range. Assume that the starting point x coordinate of the 1# storage area is X1s, and the end point x coordinate is X1e, and the starting point x coordinate of the 2# storage is X2s, and the end point x coordinate is X2e. If Xs≥X1s and Xs≤X1e, Xe≥X1s and Xe≤X1e, it is in the same storage area; if Xs≥X1s and Xs≤X1e, Xe≥X2s and Xe≤X2e, it is across storage areas. Furthermore, for cross-storage area operations, the lifting mechanism needs to be raised to the height of the retaining wall, and the unmanned vehicle and trolley mechanisms are allowed to start and go to the material grabbing point; Step (2), the unmanned vehicle and the trolley arrive at the material grabbing point, and the lifting mechanism descends to the material surface at the material grabbing point. The material surface height is calculated based on the Xw, Yw coordinates of the material grabbing point and the length (a) and width (b) parameters of the grab bucket to calculate the diagonal coordinates X1, Y1, X2, and Y2 of the grid boundary of the material grabbing point. The height of the grabbing point is obtained from the 3D model of the storage area using the grid diagonal coordinates. The calculation formula for the diagonal coordinates of the boundary and the formula for obtaining the height Z are as follows: X1 = Xw + a / 2 Formula 1; Y1 = Yw – b / 2 Equation 2; X2 = Xw – a / 2 Formula 3; Y2 = Xw + b / 2 Equation 4; Z = F(X1, Y1, X2, Y2) Equation 5; Yw is the y coordinate of the center point of the material grabbing position; X1 and X2 are the x coordinates of the center point of the grab position, which are the diagonal x coordinates of the grab when it is opened, calculated based on the length a and width b of the grab and the above formulas 1 and 3; Y1 and Y2 are the diagonal y coordinates of the grabbing bucket when it is opened, which are obtained based on the length a and width b of the grabbing bucket and the above formulas 2 and 4. Z is the highest height of the material surface at the material grabbing position obtained from the 3D model; Furthermore, if the highest height of the area between the current position of the unmanned vehicle and the material grabbing point is greater than the limit height of the lifting mechanism, the unmanned vehicle cannot avoid it and the task cannot be executed; Step (3), in the same warehouse area operation, it is necessary to calculate the height of the lifting mechanism and the material grabbing height allowed to be started by the unmanned vehicle trolley mechanism according to the current position of the vehicle and the material surface height of the warehouse area.

[0038] Furthermore, when the crane is started, it is determined whether the grab bucket stops on the material surface. The determination method is to obtain the current lifting mechanism height Za of the crane from the equipment, obtain the material surface height Z of the current parking position from the 3D model of the storage area, calculate the difference between Za and Z, and when the difference is less than half of the grab bucket height, it is determined to be stopped on the material surface; Furthermore, if the grab bucket stops on the material surface, the lifting mechanism needs to first lift the grab bucket to half of its height. If the half of the grab bucket height lifted is higher than the lifting limit height, it will only be lifted to the lifting limit height, and the trolley and car mechanisms will start; Furthermore, if the grab bucket does not stop on the material surface, it is necessary to calculate the height at which the crane is allowed to start, select an area with the diagonal coordinates of the grab start point and the grab end point, and then calculate the height of the grab bucket within the selected area according to the following formula: Figure 3Take the rows included in the selected area in the schematic diagram of the warehouse area shown, obtain the maximum height of each row from the 3D model, establish a rectangular coordinate system with the trolley position at the maximum height position of each row as the y-axis, the material surface height as the z-axis, and the lifting limit as 0. In the coordinate system, connect the maximum value of the highest height in each row in the selected area + half of the crane height and the allowable starting height, connect the z-axis allowable starting height z-coordinate and the y-axis maximum height y-coordinate to form a triangle, and calculate the z-axis coordinate when the z-axis angle is 45° (unknown). At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate, and this z-coordinate is the allowable starting height of the crane; according to the calculation results, compare the calculated allowable starting height with the crane limit height. If the allowable starting height is less than the limit height, the lifting mechanism is lifted to the allowable starting height, and the trolley and trolley mechanisms start to move. Otherwise, the action cannot be executed; Further, execute step (2); Step (4), material discharge action, determine whether it crosses the storage area, the method of cross-storage area determination is the same as step (1); Furthermore, for cross-storage area operations, the lifting mechanism needs to be raised to the height of the retaining wall, and the unmanned vehicle and trolley mechanisms are allowed to start and go to the material discharge point; Furthermore, when the trolley or car reaches the discharge point, the lifting height will reach the lifting limit height during the cross-storage area operation. For the sake of equipment safety, the lifting height will not drop during discharge and will maintain the height during operation. If the height of the discharge point is higher than the limit height of the lifting mechanism, the action cannot be performed. Furthermore, for operations in the same storage area, it is necessary to calculate the height at which the crane is allowed to start, select an area with the diagonal coordinates of the material discharge starting point and the material discharge end point, and then follow the steps in the selected area. Figure 3 Take the rows included in the selected area in the schematic diagram of the warehouse area shown, obtain the maximum height of each row from the 3D model, establish a rectangular coordinate system with the trolley position at the maximum height position of each row as the y-axis, the material surface height as the z-axis, and the lifting limit as 0. In the coordinate system, connect the maximum value of the highest height in each row in the selected area + half of the crane height and the allowed starting height, connect the z-axis allowed starting height z-coordinate and the y-axis maximum height y-coordinate to form a triangle, and calculate the z-axis coordinate when the z-axis angle is 45° (unknown). At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate, and this z-coordinate is the allowed starting height of the crane; according to the calculation results, compare the calculated allowed starting height with the crane limit height. If the allowed starting height is less than the limit height, the lifting mechanism is lifted to the allowed starting height, and the trolley and trolley mechanisms start to move. Otherwise, the task cannot be executed; Further, it is determined whether the material discharge location is in the material inlet area or other areas in the storage area according to the material discharge location coordinates; Furthermore, the discharge position is in the material inlet area. The highest height of the material inlet area is obtained from the 3D model. The highest height of the material inlet area is compared with the fixed height of the material inlet. The highest height of the material inlet area is the highest height of the material surface in the material stacking area around the material inlet. The fixed height of the material inlet is the height of the material inlet. Figure 1 The feed inlet position is marked in the figure, and the feed inlet area is divided as follows: Figure 3 As shown; if the fixed height of the material inlet is less than the highest height of the material inlet area, the material discharge height of the lifting mechanism is the highest height of the material inlet area + half of the grab height, otherwise the material discharge height of the lifting mechanism is the fixed height of the material inlet + half of the grab height. If the material discharge height is higher than the limit height of the lifting mechanism, the action cannot be performed; Furthermore, if the discharge position is in other areas within the warehouse, the highest height of the placement position area obtained from the 3D model and the stopping height of the lifting mechanism is the highest height of the placement position area + half of the grab height. If the height of the highest height of the placement position area + half of the grab height is greater than the lifting limit height, the action cannot be performed.

[0039] Table 1 Grab bucket parameters

[0040] Table 2 Optimization statistics of time used per bucket during the implementation of unmanned driving

[0041] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model, characterized in that: The steps include: Step (1), determine whether it is a material grabbing action or a material releasing action; if it is a material grabbing action, execute step (2); if it is a material releasing action, execute step (3); Step (2), determine whether to operate across storage areas; if operating across storage areas, the start-up condition of the unmanned vehicle trolley is that the lifting mechanism needs to be lifted to the height of the retaining wall; when the trolley and trolley reach the grabbing point to perform the material grabbing action, the height of the lifting mechanism needs to be lowered to the height of the material surface at the grabbing point. If the height of the material surface at the grabbing point is higher than the limit height of the lifting mechanism, the action cannot be performed; Step (3), determine whether the material is discharged across storage areas. If the material is discharged across storage areas, the start-up condition of the unmanned vehicle large and small car is that the lifting mechanism needs to be lifted to the height of the retaining wall. After the large and small cars are started, the lifting mechanism continues to be lifted to the upper limit of the lifting height; If the material is not discharged across storage areas, it is necessary to calculate the allowable starting height from the grabbing position to the discharging position and the discharging height to the placement position. The lifting mechanism first runs to the allowable starting height, and the large and small carts start to move until the large and small carts reach the discharging position and the lifting mechanism is lifted to the discharging height, and then the material discharging begins.

2. The method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model according to claim 1, characterized in that: In step (2), if the judgment result is that the unmanned vehicle is operating in the same storage area, the current position of the vehicle and the area where the current position is located, the current height of the lifting mechanism are obtained, and the material surface height at the current position is obtained from the 3D model; the difference between the current lifting mechanism height and the current material surface height is calculated to determine whether the grab bucket is stopped on the material surface.

3. The method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model according to claim 2 is characterized in that: If the grab stops on the material surface, obtain the target point height, the height of the middle area between the starting point and the target point from the 3D model, and take the maximum value M1 of these two heights; according to the height of the grab, the lifting mechanism lifts the grab by half of its height to ensure that the grab is not in contact with the material surface at the current position and has a certain amount of space for movement, and that the lifting height cannot be greater than the lifting limit height. If the required lifting height is greater than the lifting limit, it is only lifted to the limit height. If the above maximum value is higher than the limit height of the crane lifting mechanism, the task cannot be executed. If the maximum value M1 is lower than the limit of the lifting mechanism, the trolley and car mechanisms of the crane start to move.

4. The method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model according to claim 2 is characterized in that: If the grab bucket does not stop on the material surface, obtain the target point height, the height of the middle area between the starting point and the target point from the 3D model, and take the maximum value M2 of these two heights; if the current lifting height is lower than the maximum value M2, divide the selected area according to the diagonal coordinates of the current position and the position with the highest height, and then take the rows contained in the selected area in the selected area, obtain the highest height of each row from the 3D model, divide the height ladder, and establish a rectangular coordinate system with the trolley position at each height position in the height ladder as the y-axis, the material surface height as the z-axis, and the lifting limit as the 0 point; the coordinate system connects the maximum value of the highest height in each row in the selected area + the height of the vehicle Half and the allowed starting height, connect the z-axis allowed starting height z-coordinate and the y-axis maximum height y-coordinate to form a triangle, and find the z-axis coordinate when the z-axis angle is 45°. At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate. This z-coordinate is the allowed starting height of the crane; according to the calculation results, compare the calculated allowed starting height with the crane limit height. If the allowed starting height is less than the limit height, the lifting mechanism is lifted to the allowed starting height, and the trolley and car mechanism start to move, otherwise the task cannot be executed; if the current lifting height is higher than the maximum value M2, the crane trolley and car start to move.

5. The method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model according to claim 1, characterized in that: In step (3), the lifting height allowed for the crane and trolley to start during the material discharge action is calculated. According to the coordinate data of the warehouse model, an area is selected with the diagonal coordinates of the starting point and the end point, and then the selected area is divided into rows. The maximum height of each row is obtained from the 3D model. A rectangular coordinate system is established with the position of the trolley at the maximum height position of each row as the y-axis, the material surface height as the z-axis, and the lifting limit as the 0 point. In the coordinate system, the maximum value of the highest height in each row in the selected area + half of the crane height and the allowed starting height are connected. The z-axis allowed starting height z coordinate and the y-axis maximum height y coordinate are connected to form a triangle. The z-axis coordinate when the z-axis angle is 45° is calculated. At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate. This z-coordinate is the allowed starting height of the crane. According to the calculation result, the calculated allowed starting height is compared with the crane limit height. If the allowed starting height is less than the limit height, the lifting mechanism is lifted to the allowed starting height, and the trolley and trolley mechanisms start to move. Otherwise, the action cannot be executed.

6. The method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model according to claim 1, characterized in that: In step (3), if the discharge position is at the material port, calculate the discharge height of the crane; obtain the highest height of the material port area from the 3D model, compare the highest height of the material port area with the fixed height of the material port, the highest height of the material port area is the highest height of the material surface in the material stacking area around the material port, and the fixed height of the material port is the height of the material port; if the fixed height of the material port is less than the highest height of the material port area, the discharge height of the lifting mechanism is the highest height of the material port area + half of the grab height, otherwise the discharge height of the lifting mechanism is the fixed height of the material port + half of the grab height; if the discharge height is higher than the lifting mechanism limit height, the action cannot be performed.

7. The method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model according to claim 1, characterized in that: In step (3), If the discharge position is at other locations in the warehouse, the highest height of the placement position area is obtained from the 3D model, and the stopping height of the lifting mechanism is the highest height of the placement position area + half of the grab height. If the height of the highest height of the placement position area + half of the grab height is greater than the lifting limit height, the action cannot be performed.

8. The method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model according to claim 1, characterized in that: The steps include: Step (1), before issuing the task instruction, determine whether it is a material grabbing action or a material placing action; if it is a material grabbing action, execute step (2); if it is a material placing action, execute step (3); Step (2), if it is a material grabbing action, determine whether it is a cross-storage operation, obtain the current coordinates of the unmanned vehicle from the equipment, and determine whether it is a cross-storage operation based on the current vehicle mechanism coordinates Xs and the vehicle mechanism target position Xe; Xe is the current position coordinate of the vehicle mechanism, and Xe is the target position coordinate of the vehicle mechanism; According to the current trolley mechanism coordinates and the target position trolley mechanism coordinates, determine which storage area's starting point and end point are respectively within the range. Assume that the starting point x coordinate of storage area 1 is X1s and the end point x coordinate is X1e, and the starting point x coordinate of storage area 2 is X2s and the end point x coordinate is X2e. If Xs≥X1s and Xs≤X1e, Xe≥X1s and Xe≤X1e, it is in the same storage area; if Xs≥X1s and Xs≤X1e, Xe≥X2s and Xe≤X2e, it is across storage areas. (2.1) If the operation is across the storage area, the lifting mechanism needs to be raised to the height of the retaining wall, and the unmanned vehicle and trolley mechanism are allowed to start and go to the material grabbing point; The unmanned vehicle and trolley arrive at the material grabbing point, and the lifting mechanism descends to the material surface at the material grabbing point. The material surface height is calculated based on the coordinates of the center point of the grabbing position (Xw, Yw), combined with the length a and width b parameters of the grab bucket, and the diagonal coordinates X1, Y1, X2, and Y2 of the grid boundary of the grabbing position are calculated. The height of the grabbing point is obtained from the 3D model of the storage area using the grid diagonal coordinates. The calculation formula for the diagonal coordinates of the boundary and the formula for obtaining the height Z are as follows: X1 = Xw + a / 2 Formula 1; Y1 = Yw – b / 2 Equation 2; X2 = Xw – a / 2 Formula 3; Y2 = Xw + b / 2 Equation 4; Z = F(X1, Y1, X2, Y2) Equation 5; Xw is the x coordinate of the center point of the material grabbing position; Yw is the y coordinate of the center point of the material grabbing position; X1 and X2 are the x coordinates of the center point of the grab position, which are the diagonal x coordinates of the grab when it is opened, calculated based on the length a and width b of the grab and the above formulas 1 and 3; Y1 and Y2 are the diagonal y coordinates of the grabbing bucket when it is opened, which are obtained based on the grabbing bucket length a, width b and the above formula 2 and formula 4. Z is the highest height of the material surface at the material grabbing position obtained from the 3D model; Before the action is executed, the maximum height of the material surface at the current position and the material grabbing position is obtained from the 3D model according to the coordinates of the current position of the unmanned vehicle and the material grabbing position. If the highest height of the area between the current position of the unmanned vehicle and the material grabbing point is greater than the limit height of the lifting mechanism, the unmanned vehicle cannot avoid it and the action cannot be executed. (2.2) If the operation is in the same storage area, the height of the lifting mechanism and the material grabbing height allowed to be started by the unmanned vehicle trolley mechanism need to be calculated based on the current position of the vehicle and the material surface height of the storage area; When the crane starts, determine whether the grab bucket stops on the material surface; If the grab bucket stops on the material surface, the lifting mechanism needs to first lift the grab bucket to half of its height. If the half of the grab bucket height lifted is higher than the lifting limit height, it will only be lifted to the lifting limit height, and the trolley and carriage mechanisms will start; If the grab bucket does not stop on the material surface, it is necessary to calculate the height at which the crane is allowed to start. The area is selected with the diagonal coordinates of the starting point and the end point of the grab, and then the rows contained in the selected area are taken from the selected area. The maximum height of each row is obtained from the 3D model. The position of the trolley at the maximum height position of each row is taken as the y-axis, the material surface height is taken as the z-axis, and the lifting limit is taken as 0 to establish a rectangular coordinate system. In the coordinate system, the maximum value of the highest height in each row in the selected area + half of the crane height and the allowed starting height are connected. The z-axis allowed starting height z-coordinate and the y-axis highest height y-coordinate are connected to form a triangle. The z-axis coordinate when the z-axis angle is 45° is calculated. At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate. This z-coordinate is the allowed starting height of the crane. According to the calculation results, the calculated allowed starting height is compared with the crane limit height. If the allowed starting height is less than the limit height, the lifting mechanism is lifted to the allowed starting height, and the trolley and trolley mechanisms start to move. Otherwise, the task cannot be executed. Step (3), material discharge step (3), determining whether material is discharged across storage areas; If the material is to be discharged across storage areas, the lifting mechanism needs to be raised to the height of the retaining wall, and the unmanned vehicle trolley and car mechanism are allowed to start and go to the discharge point for operation; when the trolley and car arrive at the discharge point, if the height of the discharge point is higher than the limit height of the lifting mechanism, the task cannot be performed; If the material is not discharged across storage areas, it is necessary to calculate the height at which the crane is allowed to start. The area is selected with the diagonal coordinates of the discharge start point and the discharge end point, and then the rows contained in the selected area are taken from the selected area. The maximum height of each row is obtained from the 3D model. The position of the trolley at the maximum height position of each row is taken as the y-axis, the material surface height is taken as the z-axis, and the lifting limit is taken as the 0 point to establish a rectangular coordinate system. In the coordinate system, the maximum value of the highest height in each row in the selected area + half of the crane height and the allowed starting height are connected. The z-axis allowed starting height z-coordinate and the y-axis highest height y-coordinate are connected to form a triangle. The z-axis coordinate when the z-axis angle is 45° is calculated. At this time, an isosceles right triangle is formed, and the y-coordinate of the highest height position is equal to the z-axis coordinate. This z-coordinate is the allowed starting height of the crane. According to the calculation results, the calculated allowed starting height is compared with the crane limit height. If the allowed starting height is less than the limit height, the lifting mechanism is lifted to the allowed starting height, and the trolley and trolley mechanisms start to move. Otherwise, the task cannot be executed. Then, according to the coordinates of the material discharge position, it is determined whether it is in the material port area or other areas in the storage area; If the discharge position is in the material inlet area, obtain the highest height of the material inlet area from the 3D model, compare the highest height of the material inlet area with the fixed height of the material inlet, the highest height of the material inlet area is the highest height of the material surface in the material stacking area around the material inlet, and the fixed height of the material inlet is the height of the material inlet; if the fixed height of the material inlet is less than the highest height of the material inlet area, the discharge height of the lifting mechanism is the highest height of the material inlet area + half of the grab height, otherwise the discharge height of the lifting mechanism is the fixed height of the material inlet + half of the grab height. If the discharge height is higher than the limit height of the lifting mechanism, the action cannot be performed; If the discharge position is in other areas within the warehouse, the highest height of the placement position area obtained from the 3D model and the lifting mechanism stop height are the highest height of the placement position area + half of the grab height. If the highest height of the placement position area + half of the grab height is greater than the lifting limit height, the action cannot be performed.

9. The method for calculating the lifting height of an unmanned vehicle when starting and operating based on a 3D model according to claim 8, characterized in that: In step (2.2), When the crane starts, it is determined whether the grab bucket stops on the material surface. The determination method is to obtain the current lifting mechanism height Za of the crane from the equipment, obtain the material surface height Z of the current parking position from the 3D model of the storage area, calculate the difference between Za and Z, and when the difference is less than half of the grab bucket height, it is determined to be stopped on the material surface.

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