A kind of laser radar-based locomotive driving ore drawing detection method and device

Abstract

The application shows a kind of laser radar-based locomotive driving ore drawing detection method and device, related to mine industry and laser technology field.The problem of existing locomotive driving ore drawing parking control not unified and loading capacity not unified is solved.The locomotive driving ore drawing detection method shown in the application comprises: judging whether the number of scanning points in the first detection zone decreases with time and is less than the first threshold value;If yes, judge whether scanning points appear above the first detection line;If yes, data segmentation is carried out on the scanning points above the first detection line to obtain the position of the car coupling plate;When the position of the car coupling plate reaches the first preset position, enter the discharging mode;When entering the discharging mode, judge whether the number of scanning points in the fourth detection zone meets the preset condition;If yes, stop discharging.The locomotive driving ore drawing detection device shown in the application comprises: a laser radar and a car coupling plate, which realizes locomotive positioning.The application can achieve the technical effect of unified parking control and unified loading capacity.

Description

Technical Field

[0001] This invention relates to the mining industry and the field of laser technology, and in particular to a method and device for detecting ore discharge from locomotives based on lidar. Background Technology

[0002] Mineral resources occupy a vital position in my country's economic development, and the selection of appropriate mining methods ensures the success of mining operations. In deep-mining, in addition to the traditional long-arm single-roadway system, multiple long-arm roadways are often constructed to meet the ventilation needs of tunneling and high-gas working faces, ranging from three to five roadways. These roadways provide conditions for ore transportation, ventilation, personnel flow, and material transport, enabling locomotives to move ore. After mining begins, geothermal heat gradually increases the temperature, and traditional mine transportation and personnel movement cannot fundamentally solve the high-temperature hazards brought about by underground mining. Furthermore, underground work has a high risk factor, and explosions are frequent. Therefore, using remote video monitoring systems, ground monitoring personnel can directly monitor the underground situation in real time, and a high degree of mechanization is increasingly being applied in mining operations. LiDAR is a radar system that uses laser beams to detect the position, outline, and other features of a target. LiDAR has many advantages, such as high resolution, strong resistance to active interference, small size, and light weight, and can be widely used in many fields such as security monitoring, surveying and mapping, and shape inspection.

[0003] In existing technologies, manual operation via video monitoring is used to load ore onto transport locomotives. However, with a remote video monitoring system, ground monitoring personnel can directly monitor the underground situation in real time and complete the loading of ore onto the transport locomotives.

[0004] However, the following problems still exist: the shortcomings and deficiencies of the video monitoring and manual operation method; the difference in the amount of ore loaded by different operators; the different techniques of each person; resulting in different full loads of ore transported by locomotives; which may cause problems such as ore overflow or underloading. Summary of the Invention

[0005] To address the aforementioned technical problems in existing technologies, this invention provides a locomotive ore discharge detection method and device based on lidar, solving the problems of inconsistent locomotive ore discharge and parking control and inconsistent loading capacity.

[0006] The first aspect of this invention discloses a method for detecting ore discharge from a locomotive based on lidar, comprising:

[0007] Determine whether the number of scan points in the first detection area decreases over time and is less than a first threshold; if so, enter the first positioning mode.

[0008] When entering the first positioning mode, determine whether a scanning point appears above the first detection line;

[0009] If so, the scanning points above the first detection line are segmented to obtain the position of the carriage joint plate;

[0010] When the car body overlap plate reaches the first preset position, the material feeding mode is entered; when the material feeding mode is entered, it is determined whether the number of scanning points in the fourth detection area meets the preset conditions.

[0011] If so, stop feeding material.

[0012] In some embodiments, it also includes:

[0013] When the car body overlap plate reaches the second preset position, the material feeding mode is entered; when the material feeding mode is entered, it is determined whether the number of scanning points in the fourth detection area meets the preset conditions.

[0014] If the conditions are met, stop the material feeding mode.

[0015] In some embodiments, the step of entering the unloading mode when the position of the car body overlap plate reaches the second preset position includes:

[0016] Determine whether there is a scan point in the fifth detection area above the second detection line. The fifth detection area is the region between the first preset position and the second preset position.

[0017] If so, adjust the locomotive position;

[0018] If not, enter the material feeding mode.

[0019] In some embodiments, it is determined whether the number of scan points in the first detection area decreases over time and is less than a first threshold.

[0020] If not, determine whether the number of scan points in the first detection area increases over time and exceeds the end threshold;

[0021] If the number of scan points in the first detection area increases over time and exceeds the end threshold, then the system enters standby mode.

[0022] In some embodiments, when entering the feeding mode, the step of determining whether the number of scan points in the fourth detection zone meets the preset conditions further includes:

[0023] When the material level triggers the second detection line, it is determined whether the number of scanning points in the fourth detection area meets the preset conditions.

[0024] In some embodiments, it also includes:

[0025] Scan the locomotive's outline data;

[0026] The locomotive's outline data is analyzed to complete its positioning.

[0027] In some embodiments, the width of the first detection area, the second detection area, the third detection area, and the fourth detection area is greater than or equal to the width of one locomotive car and less than or equal to the width of two locomotive cars; the height of the first detection area, the second detection area, the third detection area, and the fourth detection area is greater than or equal to the height of the locomotive car and less than the height at which the lidar is installed.

[0028] A second aspect of the present invention discloses a locomotive ore discharge detection device based on lidar, comprising:

[0029] The lidar is installed on the side of the traveling track away from the hopper;

[0030] Carriage overlap plates are installed at the rear end of each carriage and can overlap the front end of adjacent carriages.

[0031] As can be seen from the above technical solutions, the locomotive ore discharge detection method based on lidar disclosed in this application has the following beneficial effects: This invention utilizes the car body overlap plate as a fixed feature of the car body for identification and positioning, automatically completing the judgment and adjustment of the locomotive's stopping position, saving manual alignment and adjustment time. It also automatically completes the material discharge start and stop control, saving manual operation time, thereby improving the loading efficiency of underground automated transportation. No manual intervention is required, saving locomotive drivers and material control personnel, while avoiding underground personnel work, ensuring personnel safety, and saving labor costs. The use of a unified standard to control vehicle full-load conditions reduces the influence of human factors, resulting in higher consistency in the material load of the transport locomotive. Preliminary tests show that it can achieve unified stopping control and unified loading volume. This application discloses a lidar-based locomotive ore discharge detection device, which has the following advantages: The overlap position of the car bodies is higher than the height of the car body itself. This structure mainly prevents ore from falling from the connection point between the cars due to operational errors during the discharge process. Falling ore onto the tracks, if not cleared, could cause accidents, and falling onto the locomotive could damage it. The lidar scans the area inside the car body away from the hopper. The hopper is an inclined scoop shape; when ore falls from the hopper, it creates a forward impact. The lidar needs to scan the material level inside the car body in real time. Scanning the area away from the hopper avoids scanning falling ore while accurately monitoring the material level plane inside the car body. Therefore, the lidar-based locomotive ore discharge detection method disclosed in this application provides control signals for the automatic ore loading system of rail transport in underground mines, improving the loading efficiency and discharge accuracy of mine cars, and enhancing the modern technological management level of mine car loading. This method can save labor costs, solve the problem of inconsistent ore loading caused by human operation, improve the consistency of ore loading, and address the issue of excessive human resources required for underground rail transport ore loading systems. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic flowchart of an embodiment of a locomotive ore discharge detection method based on lidar proposed in this invention;

[0034] Figure 2 This is a schematic diagram of the detection area in a locomotive ore discharge detection method based on lidar proposed in this invention;

[0035] Figure 3 This is a structural schematic diagram of the position of the car body overlap plate in a locomotive ore discharge detection method based on lidar proposed in this invention;

[0036] Figure 4 This is a top view of a schematic diagram of an embodiment of a locomotive ore discharge detection device based on lidar proposed in this invention. Detailed Implementation

[0037] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, and to make the above-mentioned objectives, features and advantages of the embodiments of the present invention more apparent and understandable, the technical solutions in the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0038] Figure 2 This is a schematic diagram of the detection area in a locomotive ore discharge detection method based on lidar proposed in this invention. Figure 2 As shown, the first detection area is the region between detection lines E and F, the second detection area is the region between detection lines A and B, the third detection area is the region between detection lines D and E, the fourth detection area is the region between detection lines B and C, and the fifth detection area is the region between detection lines H and J. Detection line J also represents a first preset position, detection line H also represents a second preset position, detection line B also represents a first detection line, and detection line C represents a second detection line.

[0039] Given the practical significance of the site, the first inspection area is the rail surface inspection area, the second inspection area is the carriage feature inspection area, the third inspection area is the undercarriage inspection area, the fourth inspection area is the first material level inspection area, and the fifth inspection area is the second material level inspection area.

[0040] The horizontal line G and the vertical line I are the system coordinate axes, and the detection lines A and F represent the maximum range of detection height. In some embodiments, the width of the first detection area, the second detection area, the third detection area, and the fourth detection area is greater than or equal to the width of one locomotive car and less than or equal to the width of two locomotive cars; the height of the first detection area, the second detection area, the third detection area, and the fourth detection area is greater than or equal to the height of the locomotive car and less than the installation height of the lidar.

[0041] Preferably, the height of the detection area is generally 50cm lower than the installation position of the lidar.

[0042] Preferably, the positions of H and J are related to the opening size of the hopper, and the distance between H and J is equal to the opening of the hopper.

[0043] Preferably, G and I are the coordinate axes of the system, and the intersection of G and I is the coordinate center (0, 0); E and F are offset vertically at the height of the rail surface, with E offset upwards by 20cm and F offset downwards by 10cm, which is the position range of detection lines E and F; A and B are offset vertically at the height of the car body overlap plate, with A offset upwards by 20cm and B offset downwards by 10cm, which is the position range of detection lines A and B; D and E are offset vertically at the height of the bottom of the car body, with D offset upwards by 10cm and E set according to the cabinet position, resulting in the position range of detection lines D and E; the position of C in B and C is set according to the position of B, with a downward offset threshold for the material level detection, generally set to 50cm, meaning that the position of C is offset downwards by 50cm from the position of B, resulting in the position range of detection lines B and C; H and J are set according to the relative position of the laser radar installation position and the hopper, with H and J being the coordinate positions of the two sides of the hopper, respectively. It should be noted that the data in the above embodiments are set according to actual needs and can be set according to actual conditions, which is not limited in this application.

[0044] For the parts of the detection area involved in the following embodiments, please refer to the above content and they will not be described again.

[0045] In addition, to support the following embodiments, a method for calculating the number of scan points is now provided, such as... Figure 2 As shown, the number of radar scanning points between H and J is related to the radar's angular resolution a, radar installation height h (distance from the ground), vehicle undercarriage height h1, and distance l between H and J. The number of points between H and L is n = l / (3.14 * (h - h1) * a / 180). For example, if the radar's angular resolution is 0.5°, the radar installation height is 400cm, the vehicle undercarriage height is 70cm, and the distance between H and J is 160cm, the calculated number of scanning points between H and L is 55. After the lidar is installed, only the positions of H and J need to be set to obtain the number of radar scanning points.

[0046] Figure 1This is a schematic flowchart of an embodiment of a locomotive ore discharge detection method based on lidar proposed in this invention. Figure 1 As shown, this invention illustrates a method for detecting ore discharge from a locomotive based on lidar, comprising:

[0047] S1 determines whether the number of scan points in the first detection area decreases over time and is less than the first threshold;

[0048] The number of scanning points in the first detection zone is the number of radar points N within the detection range, i.e., the number of scanning points on the rail surface. The presence or absence of a locomotive is determined by the change in the number of scanning points on the rail surface, i.e., whether the number of scanning points in the first detection zone decreases over time. Specifically, when there is no locomotive, all laser radar scanning points between H and J fall within the rail surface detection zone, and the number of rail surface scanning points is N. When a locomotive enters, the laser radar between H and J scans the locomotive, and the laser radar scanning points fall on the locomotive, not within the rail surface detection zone. The number of laser radar scanning points n on the rail surface is less than N. Therefore, a decrease in the number of scanning points in the first detection zone over time indicates that the locomotive has entered the ore discharge detection area.

[0049] To eliminate interference from human activity at the detection location, it is also necessary to determine whether the number of scan points in the first detection area is less than a first threshold. Specifically, when the number of track surface scan points is less than N and reaches a certain proportion, the locomotive is considered to have just arrived or just departed: When a locomotive or a person enters the range of H and J, the lidar will scan the locomotive or person. The scan points of the lidar that detect the locomotive or person fall on the locomotive or person and no longer fall in the track surface detection area. At this time, the number of track surface scan points n is less than N. Therefore, to filter out human interference, it is stipulated that when the number of track surface scan points n is less than the first threshold, it is determined that a locomotive has entered.

[0050] Preferably, when the number of track surface scanning points n is less than 2*N / 3 (that is, the number of lidar scanning points between H and J that fall outside the track surface detection area is greater than N / 3), it is determined that a locomotive has entered.

[0051] If S2 is correct, enter the first positioning mode;

[0052] It should be noted that the first positioning mode is merely a change in control state performed by the control unit after determining that the locomotive has entered. This embodiment does not limit the specific actions of the mode.

[0053] When S3 enters the first positioning mode, it determines whether a scanning point appears above the first detection line;

[0054] The LiDAR scanning point at the car body overlap location will appear above the first detection line (i.e., detection line B). By determining whether a scanning point appears above the first detection line (i.e., detection line B), it can be determined whether the car body overlap location is within the target area.

[0055] If S4 is true, the scanning points above the first detection line are segmented to obtain the position of the carriage joint plate;

[0056] Figure 3 This is a structural diagram illustrating the position of the car body overlap plate in a locomotive ore discharge detection method based on lidar proposed in this invention. Figure 3 As shown, the car body overlap plate is a fixed structure on each car of the transport locomotive. Each car body has one end (end A) with an overlap structure and one end (end B) without an overlap structure. When two adjacent cars 1 and 2 are connected, end A of car 1 connects to end B of car 2. The overlap position is higher than the height of the car body. This invention utilizes the car body overlap plate as a fixed feature of the car body for identification and positioning. In addition, this structure mainly prevents ore from falling from the connection between the cars due to operational errors during the unloading process. If the fallen ore falls onto the track and is not cleaned up, it may cause an accident, and if it falls onto the locomotive, it may damage the locomotive.

[0057] Data segmentation is performed on the lidar scanning points appearing above detection line B. The segmented target positions are the car body overlap positions. The segmented targets are tracked to obtain the movement trajectory of the car body overlap positions.

[0058] Specifically, the segmentation parameter adopts distance segmentation. When the distance between two adjacent points of the LiDAR scanning point is 2cm, 50cm is used as the segmentation distance for judgment.

[0059] The purpose of determining the position of the car body overlap plate is to determine the locomotive's travel status based on the movement trajectory of the overlap position, and to locate the current position of the car body by detecting the positions of both ends of the car body.

[0060] S5 When the position of the car body overlap plate reaches the first preset position, the material feeding mode is entered;

[0061] In this embodiment, the material feeding mode includes: stopping the vehicle, and starting the material feeding action after the vehicle has come to a complete stop.

[0062] When the position of the car body overlap plate reaches the first preset position (i.e., detection line J), ​​preparations begin to stop the vehicle and position the front half of the car body. At this time, most of the radar scanning points fall in the third detection area (i.e., the bottom detection area). When all of them fall in the bottom detection area, it indicates that the car is in position and the material can be discharged, entering the material level detection state.

[0063] It should be noted that the material release mode is merely a state change performed by the locomotive after it is determined to have entered the preset position. This embodiment does not limit the specific actions of the mode. For example, the material release mode may also include actions other than "stopping" and "releasing material", or the material release mode may be the action of "locomotive decelerating and releasing material at the same time".

[0064] When S6 enters the feeding mode, it determines whether the number of scanning points in the fourth detection zone meets the preset conditions.

[0065] Determine whether the laser radar scanning points falling within the fourth detection zone (i.e., the material level detection zone, the area between detection lines B and C) meet the preset conditions.

[0066] The preset conditions are: the number of laser scanning points falling into the fourth detection zone exceeds 60% of the total number of laser scanning points between H and J; or, the number of laser scanning points in the fourth detection zone is less than 60% of the total number of laser scanning points between H and J, but the number of laser radar scanning points above detection line B exceeds 8% of the total number of laser scanning points between H and J. When the number of laser scanning points meets one of the above conditions, it means that the number of scanning points in the fourth detection zone meets the preset conditions.

[0067] If S7 is the case, stop feeding material.

[0068] After stopping the material feeding, start the locomotive and position the rear half of the car.

[0069] Combined with S6-S7, the material level in the car is monitored in real time during the unloading process. The lidar scans the material level plane in the car in real time during the unloading process, and the real-time monitoring of the material level in the car is completed by the height change of the material level plane, so as to realize the start and stop control of unloading.

[0070] Based on the method shown in the above embodiments, under suitable external environmental conditions, the technical effect of simultaneous material discharge from multiple vehicles can be achieved. Specifically, as long as the hoppers are arranged according to certain rules, the subsequent vehicles can reach their designated positions while one vehicle is positioned, thus enabling material discharge from multiple vehicles.

[0071] In some embodiments, the present invention illustrates a locomotive ore discharge detection method based on lidar, which further includes:

[0072] When the S8 car body overlap plate reaches the second preset position, it enters the material feeding mode.

[0073] When the car body overlap plate reaches the second preset position (i.e., detection line H), it enters the material feeding mode; the material feeding mode includes: stopping action, and starting the material feeding action after the locomotive stops.

[0074] See Figure 3 Preferably, after detecting the overlap position 2 between the first and second carriages, the junction position 3 between the carriage wall and the carriage floor is found from position 2 towards position 1. Position 3 is tracked during the locomotive's forward movement. When position 3 moves to the position of the detection line H, a stop command is sent.

[0075] When S9 enters the feeding mode, it determines whether the number of scanning points in the fourth detection zone meets the preset conditions.

[0076] Determine whether the laser radar scanning points falling within the fourth detection zone (i.e., the material level detection zone, the area between detection lines B and C) meet the preset conditions.

[0077] The preset conditions are: the number of laser scanning points falling into the fourth detection zone exceeds 60% of the total number of laser scanning points between H and J; or, the number of laser scanning points in the fourth detection zone is less than 60% of the total number of laser scanning points between H and J, but the number of laser radar scanning points above detection line B exceeds 8% of the total number of laser scanning points between H and J. When the number of laser scanning points meets one of the above conditions, it means that the number of scanning points in the fourth detection zone meets the preset conditions.

[0078] If S10 is satisfied, stop the material feeding mode.

[0079] Combine S8-S10 to complete the parking and unloading operation of the second half of the car.

[0080] In some embodiments, the step of entering the unloading mode when the position of the car body overlap plate reaches the second preset position includes:

[0081] Determine if there are any points in the fifth detection zone above the second detection line. The fifth detection zone is the area between the first and second preset positions. If yes, adjust the locomotive position; otherwise, enter the feeding mode.

[0082] See Figure 3 If there is a point between position 2 and position 3 that exceeds the detection line C when the car stops, it indicates that the car has stopped too far ahead. A reverse command is sent, and the locomotive position is adjusted according to the tracked position 2 and position 3. After the car stops, the unloading is started to unload the rear half of the car.

[0083] In conjunction with S1-S10, after stopping material feeding, if subsequent cars still need to be fed, the locomotive is started to continue moving forward, locate the subsequent cars, and complete the feeding of the subsequent cars. It should be noted that the focus of this application is to control when and how much material is fed. This application can save labor costs, solve the differences in ore loading caused by manual operation, and improve the consistency of ore loading.

[0084] In some embodiments, it is determined whether the number of scan points in the first detection area decreases over time and is less than a first threshold; if not, it is determined whether the number of scan points in the first detection area increases over time and is greater than an end threshold; if the number of scan points in the first detection area increases over time and is greater than an end threshold, then a standby mode is entered.

[0085] Specifically, if the number of scan points in the first detection area increases over time and exceeds the end threshold, it is determined that the locomotive has left and is waiting for the next locomotive to enter.

[0086] In some embodiments, when entering the feeding mode, the step of determining whether the number of scanning points in the fourth detection area meets the preset conditions further includes: after the material level triggers the second detection line, determining whether the number of scanning points in the fourth detection area meets the preset conditions.

[0087] Preferably, the material level is monitored after the material level triggers detection line C. This is because when the material level is between detection lines C and D, it indicates that the material is still far from being fully loaded. Therefore, starting the monitoring of the material level after the material level triggers detection line C avoids waste. It should be noted that this embodiment does not impose a restriction on the starting time of the material level monitoring.

[0088] In some embodiments, the present invention provides a locomotive ore discharge detection method based on lidar, which further includes: scanning the locomotive's contour data; analyzing the locomotive's contour data to complete locomotive positioning.

[0089] Specifically, the overlapping positions of the carriages are determined by analyzing the locomotive's outline data.

[0090] Figure 4 This is a top view of a schematic diagram of an embodiment of a locomotive ore discharge detection device based on lidar proposed in this invention. Figure 4 As shown, the second aspect of the present invention discloses a locomotive ore discharge detection device based on lidar, comprising: a lidar 3, which is disposed on the side of the locomotive track away from the hopper 1; and a car body overlap plate 4, which is disposed at the rear end of each car body 2 and can overlap the front end of adjacent cars 2. The lidar 3 scans the position of the car body 2 away from the hopper 1. The hopper 1 is tilted and scoop-shaped. When ore is discharged, the ore falling from the hopper 1 will generate forward impact. The lidar 3 needs to scan the material level in the car body 2 in real time. By scanning the side of the car body 2 away from the hopper 1, the lidar 3 can avoid scanning the falling ore and accurately monitor the material level plane in the car body.

[0091] The aforementioned lidar-based locomotive ore discharge detection device also includes: a main control box; the lidar scanning direction is installed parallel to the locomotive's travel direction; the control unit in the main control box acts as an analysis device, sending the analyzed ore discharge start / stop and locomotive travel signals to the automatic ore loading system, completing unmanned automatic ore loading control, saving manpower, and achieving uniform loading standards. The main control box provides control signals for the underground rail transport automatic ore loading system, improving ore car loading efficiency and ore discharge accuracy, and enhancing the modern technological management level of ore car loading.

[0092] This invention can save labor costs, solve the problem of inconsistent ore loading caused by manual operation, and improve the consistency of ore loading. The automated ore loading system in the mining industry has lacked effective solutions for automatic material level judgment and automatic locomotive positioning. LiDAR has significant advantages in measurement and target detection. This application addresses the shortcomings of current automated ore loading systems with the invention described above.

[0093] In addition, based on the ore discharge detection method and device of this application, under the condition that the external environment allows, it is possible to achieve the technical effect of multiple cars discharging material at the same time. It is only necessary to arrange the hoppers according to certain rules, so that when one car is positioned, the subsequent cars can all reach the designated position.

[0094] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0095] Similar parts between the embodiments provided in this invention can be referred to mutually. The specific embodiments provided above are merely examples under the overall concept of this invention and do not constitute a limitation on the scope of protection of this invention. For those skilled in the art, any other embodiments extended from the solution of this invention without creative effort are within the scope of protection of this invention.

Claims

1. A laser radar-based detection method for detecting the movement of a locomotive and the release of ore, characterized by, The application is applied to a laser radar-based locomotive driving and ore drawing detection device, the device comprises a laser radar and a car body lap joint plate, the laser radar is arranged on a side of a driving track far from a hopper, and the car body lap joint plate is arranged at a tail end of each car body and can lap a head end of an adjacent car body, and the device comprises: determining whether the number of scanning points of the laser radar in the first detection area decreases over time and is less than a first threshold value; if so, entering a first positioning mode; wherein, detection lines A, B, C, D, E, F, H and J are arranged based on horizontal line G and vertical line I as mutually perpendicular system coordinate axes, detection line A and detection line F are the maximum range of detection height, detection line A and detection line F are parallel to horizontal line G, the height of detection line A is higher than that of detection line F, detection line B, detection line C, detection line D and detection line E are arranged in parallel from high to low between detection line A and detection line F, detection line H and detection line J are parallel to vertical line I and are located on both sides of vertical line I, the distance between H and J is equal to the opening of the ore hopper, detection line E and detection line F are offset up and down in the height position of the track surface, horizontal line G is located between detection line E and detection line F, detection line A and detection line B are offset up and down in the height position of the car body lap joint plate, detection line D and detection line E are offset up and down in the height position of the car body bottom, detection line E is set according to the track surface position, detection line B is offset downward to the position of the threshold value of the detection material level, i.e. detection line C, detection line H and detection line J are set according to the relative position between the laser radar installation position and the hopper, detection line H and detection line J are the coordinate positions on both sides of the hopper, the first detection area is the area between detection line E and detection line F, i.e. the track surface detection area, the second detection area is the area between detection line A and detection line B, i.e. the car body feature detection area, the third detection area is the area between detection line D and detection line E, i.e. the car bottom detection area, the fourth detection area is the area between detection line B and detection line C, i.e. the first material level detection area, and the fifth detection area is the area between detection line H and detection line J, i.e. the second material level detection area, detection line J represents a first preset position, detection line H represents a second preset position, detection line B represents a first detection line, and detection line C represents a second detection line, the width of the first detection area, the second detection area, the third detection area and the fourth detection area is greater than or equal to the width of a car body of the locomotive and less than or equal to the width of two car bodies, and the height of the first detection area, the second detection area, the third detection area and the fourth detection area is greater than or equal to the height of the car body of the locomotive and less than the height of the laser radar installation position from the ground; when entering the first positioning mode, determining whether scanning points appear above the first detection line; if so, performing data segmentation on the scanning points above the first detection line in a distance segmentation manner to obtain the position of the car body lap joint plate; when the position of the car body lap joint plate reaches the first preset position, entering an ore drawing mode; when entering the ore drawing mode, determining whether the number of scanning points of the fourth detection area meets a preset condition; if so, stopping ore drawing. When the car lap plate position reaches the second preset position, entering the discharging mode, wherein the step of when the car lap plate position reaches the second preset position, entering the discharging mode, comprises: Judging whether there is a scanning point above the second detection line in the fifth detection area, the fifth detection area being the area between the first preset position and the second preset position; If yes, adjusting the position of the locomotive; If no, entering the discharging mode; When entering the discharging mode, judging whether the number of scanning points in the fourth detection area meets the preset condition; If yes, stopping the discharging mode.

2. The method of detecting the movement of a locomotive and the release of ore from a draw according to claim 1, wherein, The step of judging whether the number of scanning points in the first detection area decreases over time and is less than the first threshold value; If no, judging whether the number of scanning points in the first detection area increases over time and is greater than the end threshold value; If the number of scanning points in the first detection area increases over time and is greater than the end threshold value, entering the standby mode.

3. The method of detecting the movement of a locomotive and the release of ore from a draw of claim 1, wherein, The step of when entering the discharging mode, judging whether the number of scanning points in the fourth detection area meets the preset condition, further comprises: When the material position triggers the second detection line, judging whether the number of scanning points in the fourth detection area meets the preset condition.

4. The method of tramming detection for a locomotive of claim 1, wherein, Further comprising: Scanning the profile data of the locomotive; Analyzing the profile data of the locomotive to complete the positioning of the locomotive.

5. A laser radar-based detection device for detecting the movement of a locomotive and a train of cars, characterized in that, Comprising: A laser radar, the laser radar being arranged on the side of the track far away from the hopper, the scanning direction of the laser radar being parallel to the direction of locomotive travel; A car lap plate, the car lap plate being arranged at the tail end of each car, the car lap plate being capable of lapping the head end of the adjacent car; The control unit in the master control box device serves as an analysis device, and sends the analyzed feeding start-stop and trolley signal to the automatic ore loading system to complete the unmanned automatic ore loading control. The analysis step of the control unit in the master control box device comprises: judging whether the number of scanning points of the laser radar in the first detection area decreases over time and is less than a first threshold value; if yes, entering a first positioning mode; wherein, detection lines A, B, C, D, E, F, H and J are set based on the system coordinate axes perpendicular to each other, the detection line A and the detection line F are the maximum range of the detection height, the detection line A and the detection line F are parallel to the horizontal line G, the height of the detection line A is higher than that of the detection line F, the detection line B, the detection line C, the detection line D and the detection line E are distributed in parallel from high to low between the detection line A and the detection line F, the detection line H and the detection line J are parallel to the vertical line I and located on both sides of the vertical line I, the distance between H and J is equal to the opening of the feeding hopper, the detection line E and the detection line F are offset up and down at the height position of the rail surface, the horizontal line G is located between the detection line E and the detection line F, the detection line A and the detection line B are offset up and down at the height position of the carbody overlap plate, the detection line D and the detection line E are offset up and down at the height position of the carbody bottom, the detection line E is set according to the rail surface position, the detection line B is offset downward to the position of the threshold value of the detection material level, i.e. the detection line C, the detection line H and the detection line J are set according to the relative position of the laser radar installation position and the hopper, the detection line H and the detection line J are the coordinate positions on both sides of the hopper, the first detection area is the area between the detection line E and the detection line F, i.e. the rail surface detection area, the second detection area is the area between the detection line A and the detection line B, i.e. the carbody feature detection area, the third detection area is the area between the detection line D and the detection line E, i.e. the carbody bottom detection area, the fourth detection area is the area between the detection line B and the detection line C, i.e. the first material level detection area, the fifth detection area is the area between the detection line H and the detection line J, i.e. the second material level detection area, the detection line J represents the first preset position, the detection line H represents the second preset position, the detection line B represents the first detection line, and the detection line C represents the second detection line, the width of the first detection area, the second detection area, the third detection area and the fourth detection area is greater than or equal to the width of a carbody of a locomotive, and less than or equal to the width of two carbodies, and the height of the first detection area, the second detection area, the third detection area and the fourth detection area is greater than or equal to the height of the carbody of the locomotive, and less than the height of the laser radar installation position from the ground; When the first positioning mode is entered, it is judged whether scanning points appear above the first detection line; If yes, the scanning points above the first detection line are subjected to distance segmentation to obtain the carbody overlap plate position; When the carbody overlap plate position reaches the first preset position, the feeding mode is entered; when the feeding mode is entered, it is judged whether the number of scanning points in the fourth detection area meets a preset condition; If yes, the feeding is stopped. When the carriage lap plate position reaches the second preset position, entering the discharging mode, wherein the step of entering the discharging mode when the carriage lap plate position reaches the second preset position comprises: determining whether there is a scanning point above the second detection line in the fifth detection area, the fifth detection area being a region between the first preset position and the second preset position; if yes, adjusting the position of the machine; if no, entering the discharging mode; when entering the discharging mode, determining whether the number of scanning points in the fourth detection area meets a preset condition; if yes, stopping the discharging mode.

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