A method, device and medium for preventing cabin from touching the wall

Abstract

The present application discloses a method, device and medium for preventing the cabin from touching the wall, which is used to solve the technical problem in the prior art that the service life of the equipment and the unloading efficiency are reduced due to the collision between the mechanical tools and the materials or ships. The method includes: acquiring posture data to establish a three-dimensional space model to determine the position information of the flow machine; acquiring point cloud data through a single-line laser radar to determine the concave points and convex points of the bulkhead according to the distance between the cabin curved surface and the center of the cabin, and taking the plane corresponding to the convex points of the bulkhead as the reference line of the cabin; according to the position of the bucket, determining the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin, and planning the corresponding pushing angle and motion trajectory of the bucket according to the position of each designated component in the flow machine, controlling the bucket to work within the reference line, and controlling the bucket to stop moving when the distance between the bucket and the designated position is less than the preset threshold, avoiding the collision between the bucket and the flow machine or the cabin, and improving work efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a method, device and medium for preventing a cabin from touching the wall. Background Art

[0002] With the development of science and technology, more and more materials are transported to the dock by ships, and the materials on the ships are unloaded by mechanical tools. In the prior art, when unloading materials by manually controlling mechanical tools, it is necessary to control the mechanical tools based on the work experience accumulated by each staff member.

[0003] However, under complex working conditions, relying solely on the work experience of the staff to operate mechanical tools to unload materials cannot avoid losses caused by limited vision or operational errors of the staff, resulting in damage to materials, serious wear and tear of mechanical tools or ships, and reduced service life of the equipment and unloading efficiency. Summary of the invention

[0004] The embodiments of the present application provide a method, device and medium for preventing a cabin from touching the wall, so as to solve the technical problem in the prior art that the service life of the equipment and the efficiency of unloading are reduced due to the collision between mechanical tools and materials or ships.

[0005] On the one hand, an embodiment of the present application provides a method for controlling a cabin against a wall, comprising:

[0006] Acquiring posture data corresponding to the flow machine through a posture sensor arranged on the flow machine, and establishing a three-dimensional space model corresponding to the flow machine according to the posture data, so as to determine the position information of the flow machine through the three-dimensional space model;

[0007] Acquire point cloud data corresponding to the cabin through a single-line laser radar, determine the concave points and convex points of the bulkhead according to the distance between the cabin curved surface corresponding to the point cloud data and the center of the cabin, and use the plane corresponding to the convex point of the bulkhead as the reference line of the cabin;

[0008] Determine the position of the bucket of the flow machine from the position information of the flow machine, so as to determine the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin according to the position of the bucket;

[0009] Based on the positions of the designated components in the flow machine determined by the three-dimensional space model, the corresponding pushing angle and movement trajectory of the bucket are planned according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin;

[0010] According to the pushing angle and motion trajectory corresponding to the bucket, the bucket is controlled to work within the baseline, and when the distance between the bucket and the designated position is less than a preset threshold, the bucket is controlled to stop moving; wherein the designated position includes at least one or more of the following: the position corresponding to each designated component in the flow machine, the position corresponding to the baseline, and the position corresponding to the obstacle in the cabin.

[0011] In one implementation of the present application, point cloud data corresponding to the cabin is obtained by a single-line laser radar, so as to determine the concave points and convex points of the bulkhead according to the distance between the cabin curved surface corresponding to the point cloud data and the center of the cabin, and use the plane corresponding to the convex point of the bulkhead as the reference line of the cabin, specifically including:

[0012] A single-line laser radar is arranged on the flow machine, and the single-line laser radar is used to rotate and scan the cabin to obtain point cloud data corresponding to the cabin;

[0013] Integrating the point cloud data corresponding to the cabin acquired by the single-line laser radar into the three-dimensional space model, and determining the relative position of the single-line laser radar and the flow machine based on the three-dimensional space model;

[0014] Determine the bulkhead surface of the cabin according to the relative position of the single-line laser radar and the flow machine and the point cloud data corresponding to the cabin acquired by the single-line laser radar;

[0015] Determining the cabin center of the cabin according to the point cloud data, and determining a plurality of concave points and convex points of the cabin according to the distance between the curved surface of the cabin and the cabin center;

[0016] The bulkhead protrusion point closest to the center of the cabin is determined from multiple bulkhead protrusion points to determine the plane corresponding to the bulkhead protrusion point, and the plane corresponding to the bulkhead protrusion point is used as the reference line of the cabin so that the flow machine can clean the materials in the cabin within the reference line.

[0017] In one implementation of the present application, after acquiring point cloud data corresponding to the cabin by a single-line laser radar, and determining the concave points and convex points of the bulkhead according to the distance between the cabin curved surface corresponding to the point cloud data and the center of the cabin, the method further includes:

[0018] Calculating an average value of the bulkhead curved surface according to coordinate data corresponding to concave points of the bulkhead and coordinate data corresponding to convex points of the bulkhead in the three-dimensional space model;

[0019] Determining distances between adjacent concave points and convex points of the bulkhead in the cabin based on an average value of the bulkhead curved surface;

[0020] Calculating the distance between two adjacent bulkhead convex points in the cabin according to the coordinate data corresponding to the two adjacent bulkhead convex points in the three-dimensional space model;

[0021] Determine the material height between adjacent bulkhead concave points and bulkhead convex points in the cabin according to the point cloud data acquired by the single-line laser radar;

[0022] Determine a material cleaning device for the space between the two adjacent bulkhead convex points according to the distance between the adjacent bulkhead concave points and the bulkhead convex points in the cabin, the distance between two adjacent bulkhead convex points, and the material height between the adjacent bulkhead concave points and the bulkhead convex points;

[0023] According to the spatial dimension information between the two adjacent bulkhead convex points, a corresponding cleaning strategy is planned, and a material cleaning instruction corresponding to the cleaning strategy is determined;

[0024] The spatial dimension information between two adjacent bulkhead convex points at least includes: the distance between adjacent bulkhead concave points and bulkhead convex points, the distance between two adjacent bulkhead convex points, and the material height between adjacent bulkhead concave points and bulkhead convex points;

[0025] The material cleaning instruction is sent to the material cleaning device, so that the material cleaning device cleans the material between the two adjacent bulkhead protrusions according to the material cleaning instruction.

[0026] In one implementation of the present application, based on the positions of the designated components in the flow machine determined by the three-dimensional space model, the pushing angle and the motion trajectory corresponding to the bucket are planned according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin, specifically including:

[0027] Based on the three-dimensional space model, the initial state corresponding to the flow machine is obtained, and the operating parameters corresponding to the three-dimensional space model are obtained; wherein the operating parameters at least include: the cylinder extension amount and the rotation angle value corresponding to each designated component in the flow machine;

[0028] Determine the position of each designated component in the flow machine according to the initial state corresponding to the flow machine and the cylinder extension and extension amount and rotation angle value corresponding to each designated component in the flow machine;

[0029] Based on the positions of the designated components, determining the rotation angle of the flow machine according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin;

[0030] According to the rotation angle of the flow machine, the maximum extension distance corresponding to the bucket is calculated, and the pushing angle corresponding to the bucket and the corresponding movement trajectory are planned.

[0031] In one implementation of the present application, according to the pushing angle and the motion trajectory corresponding to the bucket, controlling the bucket to work within the reference line specifically includes:

[0032] According to the motion trajectory corresponding to the bucket, determining the motion direction and the designated height corresponding to the bucket in the motion trajectory;

[0033] According to the pushing angle corresponding to the bucket, the bucket is controlled to extend to the specified height in the moving direction so that the bucket works within the reference line of the cabin.

[0034] In one implementation of the present application, when the distance between the bucket and the designated position is less than a preset threshold, controlling the bucket to stop moving specifically includes:

[0035] The pressure sensor is arranged on the lower wall of the cabin;

[0036] The single-line laser radar is used to rotate and scan the cabin to obtain the distance between the bucket and the designated position, and to determine whether the distance between the bucket and the designated position is less than a preset threshold; wherein the designated position also includes a position corresponding to the bottom wall of the cabin;

[0037] When the distance between the bucket and the designated position is less than a preset threshold, obtaining a pressure value corresponding to the pressure sensor;

[0038] If the pressure value corresponding to the pressure sensor is greater than the standard pressure value, it is determined that the designated height of the bucket being extended is greater than the vertical distance between the bucket and the bottom wall of the cabin, and the bucket is controlled to stop moving.

[0039] In one implementation of the present application, after controlling the bucket to work within the reference line according to the pushing angle and the motion trajectory corresponding to the bucket, the method further includes:

[0040] Based on the corresponding pushing angle and movement trajectory of the bucket when cleaning the materials in the cabin, determining the corresponding coordinate position of the bucket in the three-dimensional space model after the bucket completes the cleaning work;

[0041] Determine the next target working position of the flow machine based on the coordinate position of the bucket after the cleaning work is completed and the pre-trained motion model of the flow machine;

[0042] The single-line laser radar is used to rotate and scan the cabin in real time to obtain the coordinate position corresponding to the obstacle in the cabin;

[0043] According to the coordinate position corresponding to the obstacle and the next target working position corresponding to the flow machine, a motion trajectory of the flow machine moving to the next target working position is predicted.

[0044] In one implementation of the present application, the position of the bucket of the flow machine is determined from the position information of the flow machine, so as to determine the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin according to the position of the bucket, specifically including:

[0045] Determine the coordinate position corresponding to the bucket from the flow machine position information of the three-dimensional space model, and project the coordinate position corresponding to the bucket onto the bottom wall of the bulkhead;

[0046] Calculating the vertical distance between the coordinate position corresponding to the bucket and the projection position on the bottom wall of the cabin to obtain the vertical distance between the bucket and the bottom wall of the cabin;

[0047] Based on the projection position on the bottom wall of the cabin and the reference line of the cabin, the horizontal distance between the bucket and the reference line is calculated.

[0048] On the other hand, an embodiment of the present application further provides a cabin wall-contact prevention control device, the device comprising:

[0049] at least one processor;

[0050] and, a memory communicatively coupled to the at least one processor;

[0051] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0052] Acquiring posture data corresponding to the flow machine through a posture sensor arranged on the flow machine, and establishing a three-dimensional space model corresponding to the flow machine according to the posture data, so as to determine the position information of the flow machine through the three-dimensional space model;

[0053] Acquire point cloud data corresponding to the cabin through a single-line laser radar, determine the concave points and convex points of the bulkhead according to the distance between the cabin curved surface corresponding to the point cloud data and the center of the cabin, and use the plane corresponding to the convex point of the bulkhead as the reference line of the cabin;

[0054] Determine the position of the bucket of the flow machine from the position information of the flow machine, so as to determine the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin according to the position of the bucket;

[0055] Based on the positions of the designated components in the flow machine determined by the three-dimensional space model, the corresponding pushing angle and movement trajectory of the bucket are planned according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin;

[0056] According to the pushing angle and motion trajectory corresponding to the bucket, the bucket is controlled to work within the baseline, and when the distance between the bucket and the designated position is less than a preset threshold, the bucket is controlled to stop moving; wherein the designated position includes at least one or more of the following: the position corresponding to each designated component in the flow machine, the position corresponding to the baseline, and the position corresponding to the obstacle in the cabin.

[0057] On the other hand, an embodiment of the present application further provides a non-volatile computer storage medium storing computer executable instructions, wherein the computer executable instructions are configured as follows:

[0058] Acquiring posture data corresponding to the flow machine through a posture sensor arranged on the flow machine, and establishing a three-dimensional space model corresponding to the flow machine according to the posture data, so as to determine the position information of the flow machine through the three-dimensional space model;

[0059] Acquire point cloud data corresponding to the cabin through a single-line laser radar, determine the concave points and convex points of the bulkhead according to the distance between the cabin curved surface corresponding to the point cloud data and the center of the cabin, and use the plane corresponding to the convex point of the bulkhead as the reference line of the cabin;

[0060] Determine the position of the bucket of the flow machine from the position information of the flow machine, so as to determine the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin according to the position of the bucket;

[0061] Based on the positions of the designated components in the flow machine determined by the three-dimensional space model, the corresponding pushing angle and movement trajectory of the bucket are planned according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin;

[0062] According to the pushing angle and motion trajectory corresponding to the bucket, the bucket is controlled to work within the baseline, and when the distance between the bucket and the designated position is less than a preset threshold, the bucket is controlled to stop moving; wherein the designated position includes at least one or more of the following: the position corresponding to each designated component in the flow machine, the position corresponding to the baseline, and the position corresponding to the obstacle in the cabin.

[0063] The embodiments of the present application provide a method, device and medium for preventing the cabin from touching the wall, which at least include the following beneficial effects: the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin are determined by the position of the bucket, so that the corresponding pushing angle and movement trajectory of the bucket working within the reference line can be planned, thereby avoiding the collision between the bucket and other parts of the flow machine or the cabin, ensuring the safety of the flow machine and improving the work efficiency; by controlling the bucket to stop moving when the distance between the bucket and other parts of the flow machine, the bucket and the reference line of the cabin, or the bucket and an obstacle in the cabin is less than a preset threshold, the bucket can be avoided from colliding with the cabin; by arranging a pressure sensor on the bottom wall of the cabin, the bucket can be stopped in time when the bucket collides with the cabin, thereby reducing losses and ensuring the safety of the flow machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0065] Figure 1 A schematic flow chart of a method for preventing a cabin from touching a wall provided in an embodiment of the present application;

[0066] Figure 2 A top view of a cabin including a flow machine provided in an embodiment of the present application;

[0067] Figure 3 A schematic diagram of the internal structure of a cabin anti-wall contact control device provided in an embodiment of the present application.

[0068] Among them, there are the concave point of the bulkhead 1, the convex point of the bulkhead 2, the bucket 3, the cabin curved surface 4, and the cabin center 5. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0070] The embodiment of the present application provides a cabin anti-touching wall control method, device and medium. The horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the cabin bottom wall are determined by the position of the bucket, and the corresponding pushing angle and movement trajectory of the bucket working within the reference line can be planned, so as to avoid the bucket from colliding with other parts of the flow machine or the cabin; by controlling the bucket to stop moving when the distance between the bucket and other parts of the flow machine, the bucket and the cabin reference line, or the bucket and obstacles in the cabin is less than a preset threshold, the bucket can be prevented from colliding with the cabin; by setting a pressure sensor on the cabin bottom wall, the bucket can be stopped in time when the bucket collides with the cabin. The technical problem of reducing the service life of the equipment and the working efficiency of unloading due to the collision of mechanical tools with materials or ships in the prior art is solved.

[0071] The technical solution proposed in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0072] Figure 1 The flowchart of a method for preventing a cabin from touching a wall provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, a cabin wall-contact prevention control method provided in an embodiment of the present application mainly comprises the following steps:

[0073] Step 101: acquiring posture data corresponding to the flow machine through a posture sensor arranged on the flow machine, and establishing a three-dimensional space model corresponding to the flow machine according to the posture data, so as to determine the position information of the flow machine through the three-dimensional space model.

[0074] A mobile machine refers to an earth-moving machine that uses a bucket to dig materials above or below the digging plane and loads the materials into a transport vehicle or other unloading target. It is an indispensable loading and unloading equipment in places such as container freight yards, transfer stations, and railway stations. The embodiment of the present application obtains the posture data corresponding to the mobile machine through a posture sensor set on the mobile machine, and establishes a three-dimensional space model corresponding to the mobile machine based on the acquired posture data corresponding to the mobile machine, so that the position information corresponding to the mobile machine can be determined through the three-dimensional space model.

[0075] It should be noted that according to the monitoring requirements of the designated components of the convection machine in this application, different types of attitude sensors are set at preset positions of the convection machine to monitor different positions of the convection machine and obtain corresponding attitude data, for example: the coordinate position corresponding to the designated components of the convection machine, the cylinder extension and extension amount, the rotation angle value and other data.

[0076] Step 102, obtaining point cloud data corresponding to the cabin through a single-line laser radar, determining the concave points and convex points of the bulkhead according to the distance between the cabin surface corresponding to the point cloud data and the center of the cabin, and using the plane corresponding to the convex points of the bulkhead as the reference line of the cabin.

[0077] Specifically, the embodiment of the present application sets a single-line laser radar on the flow machine, so that the single-line laser radar can rotate and scan the cabin to obtain the point cloud data corresponding to the cabin, and then integrate the point cloud data corresponding to the cabin obtained by the single-line laser radar into the three-dimensional space model, so that the relative position of the single-line laser radar and the flow machine can be determined based on the three-dimensional space model. The present application determines the bulkhead surface of the cabin based on the relative position of the single-line laser radar and the flow machine and the point cloud data corresponding to the cabin obtained by the single-line laser radar, and then determines the center of the cabin according to the obtained point cloud data, and determines multiple bulkhead concave points and bulkhead convex points of the cabin according to the distance between the bulkhead curved surface and the center of the cabin. From the multiple bulkhead convex points, the bulkhead convex point closest to the center of the cabin is determined, and the plane corresponding to the bulkhead convex point is found, and the plane corresponding to the bulkhead convex point is used as the reference line of the cabin, so that the flow machine cleans the materials in the cabin within the reference line, which can avoid the collision between the bucket and the irregular cabin bulkhead.

[0078] like Figure 2 As shown, the bulkheads of a ship's hold may be of irregular shape, e.g. Figure 2 The present application will determine the multiple bulkhead concave points and bulkhead convex points of the cabin according to the distance between the cabin curved surface 4 and the cabin center 5, so that the plane corresponding to the bulkhead convex point can be used as the reference line of the cabin, so that the flow machine can perform material cleaning work within the reference line, thereby avoiding the collision between the bucket 3 of the flow machine and the bulkhead.

[0079] In one embodiment of the present application, after obtaining point cloud data corresponding to the cabin through a single-line laser radar, and determining the concave point and convex point of the bulkhead according to the distance between the cabin curved surface corresponding to the point cloud data and the center of the cabin, the present application will calculate the average value of the bulkhead curved surface according to the coordinate data corresponding to the concave point of the bulkhead in the three-dimensional space model and the coordinate data corresponding to the convex point of the bulkhead, thereby determining the distance between adjacent concave points and convex points of the bulkhead in the cabin based on the average value of the bulkhead curved surface. The present application will also calculate the distance between two adjacent convex points of the bulkhead in the cabin according to the coordinate data corresponding to the two adjacent convex points of the bulkhead in the three-dimensional space model, and determine the material height between the adjacent concave points and convex points of the bulkhead in the cabin according to the point cloud data obtained by the single-line laser radar, thereby determining the material cleaning equipment corresponding to cleaning the material between the two adjacent convex points of the bulkhead according to the distance between the adjacent concave points and convex points of the bulkhead in the cabin, the distance between the two adjacent convex points of the bulkhead, and the material height between the adjacent concave points and convex points of the bulkhead.

[0080] The present application plans a cleaning strategy corresponding to the material between two adjacent bulkhead bulges based on the spatial dimension information between two adjacent bulkhead bulges, determines the material cleaning instructions corresponding to the cleaning strategy, and then sends the material cleaning instructions to the material cleaning equipment so that the material cleaning equipment can clean the material between the two adjacent bulkhead bulges according to the material cleaning instructions.

[0081] It should be noted that the spatial dimension information between two adjacent bulkhead convex points in the embodiment of the present application includes at least: the distance between adjacent bulkhead concave points and bulkhead convex points, the distance between two adjacent bulkhead convex points, and the material height between adjacent bulkhead concave points and bulkhead convex points.

[0082] Step 103: determine the position of the bucket of the flow machine from the position information of the flow machine, and determine the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin according to the position of the bucket.

[0083] Specifically, the present application finds the coordinate position corresponding to the bucket in the flow machine position information of the three-dimensional space model, and projects the coordinate position corresponding to the bucket on the bottom wall of the cabin, thereby calculating the vertical distance between the coordinate position corresponding to the bucket and the projection position on the bottom wall of the cabin, that is, obtaining the vertical distance between the bucket and the bottom wall of the cabin. Based on the projection position on the bottom wall of the cabin and the reference line of the cabin, the horizontal distance between the bucket and the reference line is calculated.

[0084] Step 104 : Based on the positions of designated components in the flow machine determined by the three-dimensional space model, the corresponding pushing angle and motion trajectory of the bucket are planned according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin.

[0085] Specifically, the present application obtains the initial state corresponding to the flow machine based on the three-dimensional space model, and obtains the operating parameters corresponding to the three-dimensional space model. It should be noted that the operating parameters in the embodiment of the present application at least include: the cylinder extension amount and rotation angle value corresponding to each designated component in the flow machine, and the designated component can be the boom, forearm and bucket of the flow machine.

[0086] The present application determines the position of each designated component in the flow machine according to the initial state of the flow machine and the cylinder extension and extension amount and rotation angle value of each designated component in the flow machine, and then determines the rotation angle of the flow machine based on the position of each designated component according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin, and then calculates the corresponding maximum extension distance of the bucket according to the rotation angle of the flow machine, thereby planning the corresponding pushing angle of the bucket and the corresponding motion trajectory.

[0087] Step 105 : According to the pushing angle and motion trajectory corresponding to the bucket, the bucket is controlled to work within the reference line, and when the distance between the bucket and the designated position is less than a preset threshold, the bucket is controlled to stop moving.

[0088] Specifically, the present application can determine the movement direction and specified height of the bucket in the movement trajectory according to the movement trajectory corresponding to the bucket, and then control the bucket to extend to the specified height in the movement direction according to the pushing angle corresponding to the bucket, so that the bucket can work within the baseline of the cabin.

[0089] The present application sets a pressure sensor on the lower wall of the cabin so that the pressure value corresponding to the bottom wall of the cabin can be obtained through the pressure sensor. By rotating and scanning the cabin with a single-line laser radar, the distance between the bucket and the designated position can be obtained, and then it is determined whether the distance between the bucket and the designated position is less than a preset threshold. It should be noted that the designated position in the embodiment of the present application also includes the position corresponding to the bottom wall of the cabin.

[0090] When the distance between the bucket and the designated position is less than a preset threshold, the present application obtains the pressure value corresponding to the pressure sensor at the current moment. If the pressure value corresponding to the pressure sensor is greater than the standard pressure value, it can be determined that the designated height of the bucket extension is greater than the vertical distance between the bucket and the bottom wall of the cabin. In this case, the bucket collides with the bottom wall of the cabin. At this time, the bucket needs to be controlled to stop moving, thereby reducing the wear caused by the collision between the flow machine and the cabin.

[0091] In one embodiment of the present application, after controlling the bucket to work within the baseline according to the corresponding pushing angle and motion trajectory of the bucket, the present application also needs to determine the corresponding coordinate position of the bucket in the three-dimensional space model after the bucket completes the cleaning work based on the corresponding pushing angle and motion trajectory when the bucket cleans the materials in the cabin, and then determine the next target working position corresponding to the flow machine based on the corresponding coordinate position after the bucket completes the cleaning work and the pre-trained motion model corresponding to the flow machine. By real-time rotating and scanning the cabin with a single-line laser radar, the coordinate position corresponding to the obstacle in the cabin can be obtained, and then the motion trajectory corresponding to the flow machine moving to the next target working position is predicted based on the coordinate position corresponding to the obstacle and the next target working position corresponding to the flow machine. In this way, the flow machine technology can avoid colliding with the cabin or obstacles in the cabin when it moves to the next working position during the current material cleaning work, thereby improving the working efficiency of the flow machine.

[0092] The above is an embodiment of the method proposed in this application. Based on the same inventive concept, the embodiment of this application also provides a method and device for preventing a cabin from touching a wall, and its structure is as follows: Figure 3 shown.

[0093] Figure 3This is a schematic diagram of the internal structure of a cabin anti-touching wall control device provided in an embodiment of the present application. Figure 3 As shown, the device includes:

[0094] at least one processor;

[0095] and, a memory communicatively coupled to the at least one processor;

[0096] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor to enable the at least one processor to:

[0097] Acquire the posture data corresponding to the flow machine through the posture sensor arranged on the flow machine, and establish the three-dimensional space model corresponding to the flow machine according to the posture data, so as to determine the position information of the flow machine through the three-dimensional space model;

[0098] The point cloud data corresponding to the cabin is obtained by a single-line laser radar, so as to determine the concave points and convex points of the bulkhead according to the distance between the cabin curved surface corresponding to the point cloud data and the center of the cabin, and the plane corresponding to the convex point of the bulkhead is used as the reference line of the cabin;

[0099] Determine the position of the bucket of the flow machine from the position information of the flow machine, and determine the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin according to the position of the bucket;

[0100] Based on the positions of the designated components in the flow machine determined by the three-dimensional spatial model, the corresponding pushing angle and movement trajectory of the bucket are planned according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin;

[0101] According to the corresponding pushing angle and movement trajectory of the bucket, the bucket is controlled to work within the baseline, and when the distance between the bucket and the specified position is less than a preset threshold, the bucket is controlled to stop moving.

[0102] The embodiment of the present application further provides a non-volatile computer storage medium storing computer executable instructions, wherein the computer executable instructions are configured as follows:

[0103] Acquire the posture data corresponding to the flow machine through the posture sensor arranged on the flow machine, and establish the three-dimensional space model corresponding to the flow machine according to the posture data, so as to determine the position information of the flow machine through the three-dimensional space model;

[0104] The point cloud data corresponding to the cabin is obtained by a single-line laser radar, so as to determine the concave points and convex points of the bulkhead according to the distance between the cabin curved surface corresponding to the point cloud data and the center of the cabin, and the plane corresponding to the convex point of the bulkhead is used as the reference line of the cabin;

[0105] Determine the position of the bucket of the flow machine from the position information of the flow machine, and determine the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin according to the position of the bucket;

[0106] Based on the positions of the designated components in the flow machine determined by the three-dimensional spatial model, the corresponding pushing angle and movement trajectory of the bucket are planned according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin;

[0107] According to the corresponding pushing angle and movement trajectory of the bucket, the bucket is controlled to work within the baseline, and when the distance between the bucket and the specified position is less than a preset threshold, the bucket is controlled to stop moving.

[0108] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0109] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0110] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0111] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0112] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0113] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0114] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0115] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0116] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0117] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0118] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for preventing a cabin from contacting a wall, characterized in that: The method comprises: Acquiring posture data corresponding to the flow machine through a posture sensor arranged on the flow machine, and establishing a three-dimensional space model corresponding to the flow machine according to the posture data, so as to determine the position information of the flow machine through the three-dimensional space model; Acquire point cloud data corresponding to the cabin through a single-line laser radar, determine the concave points and convex points of the bulkhead according to the distance between the cabin curved surface corresponding to the point cloud data and the center of the cabin, and use the plane corresponding to the convex point of the bulkhead as the reference line of the cabin; Determine the position of the bucket of the flow machine from the position information of the flow machine, so as to determine the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin according to the position of the bucket; Based on the positions of the designated components in the flow machine determined by the three-dimensional space model, the corresponding pushing angle and movement trajectory of the bucket are planned according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin; According to the pushing angle and motion trajectory corresponding to the bucket, the bucket is controlled to work within the baseline, and when the distance between the bucket and the designated position is less than a preset threshold, the bucket is controlled to stop moving; wherein the designated position includes at least one or more of the following: the position corresponding to each designated component in the flow machine, the position corresponding to the baseline, and the position corresponding to the obstacle in the cabin.

2. A method for preventing a cabin from touching a wall according to claim 1, characterized in that: The point cloud data corresponding to the cabin is obtained by a single-line laser radar, so as to determine the concave point and the convex point of the bulkhead according to the distance between the cabin curved surface corresponding to the point cloud data and the center of the cabin, and the plane corresponding to the convex point of the bulkhead is used as the reference line of the cabin, which specifically includes: A single-line laser radar is arranged on the flow machine, and the single-line laser radar is used to rotate and scan the cabin to obtain point cloud data corresponding to the cabin; Integrating the point cloud data corresponding to the cabin acquired by the single-line laser radar into the three-dimensional space model, and determining the relative position of the single-line laser radar and the flow machine based on the three-dimensional space model; Determine the bulkhead surface of the cabin according to the relative position of the single-line laser radar and the flow machine and the point cloud data corresponding to the cabin acquired by the single-line laser radar; Determining the cabin center of the cabin according to the point cloud data, and determining a plurality of concave points and convex points of the cabin according to the distance between the curved surface of the cabin and the cabin center; The bulkhead protrusion point closest to the center of the cabin is determined from multiple bulkhead protrusion points to determine the plane corresponding to the bulkhead protrusion point, and the plane corresponding to the bulkhead protrusion point is used as the reference line of the cabin so that the flow machine can clean the materials in the cabin within the reference line.

3. A method for preventing a cabin from touching a wall according to claim 2, characterized in that: After acquiring point cloud data corresponding to the cabin by a single-line laser radar, and determining the concave points and convex points of the bulkhead according to the distance between the cabin curved surface corresponding to the point cloud data and the cabin center, the method further includes: Calculating an average value of the bulkhead curved surface according to coordinate data corresponding to concave points of the bulkhead and coordinate data corresponding to convex points of the bulkhead in the three-dimensional space model; Determining distances between adjacent concave points and convex points of the bulkhead in the cabin based on an average value of the bulkhead curved surface; Calculating the distance between two adjacent bulkhead convex points in the cabin according to the coordinate data corresponding to the two adjacent bulkhead convex points in the three-dimensional space model; Determine the material height between adjacent bulkhead concave points and bulkhead convex points in the cabin according to the point cloud data acquired by the single-line laser radar; Determine a material cleaning device for the space between the two adjacent bulkhead convex points according to the distance between the adjacent bulkhead concave points and the bulkhead convex points in the cabin, the distance between two adjacent bulkhead convex points, and the material height between the adjacent bulkhead concave points and the bulkhead convex points; According to the spatial dimension information between the two adjacent bulkhead convex points, a corresponding cleaning strategy is planned, and a material cleaning instruction corresponding to the cleaning strategy is determined; The spatial dimension information between two adjacent bulkhead convex points at least includes: the distance between adjacent bulkhead concave points and bulkhead convex points, the distance between two adjacent bulkhead convex points, and the material height between adjacent bulkhead concave points and bulkhead convex points; The material cleaning instruction is sent to the material cleaning device, so that the material cleaning device cleans the material between the two adjacent bulkhead protrusions according to the material cleaning instruction.

4. A method for preventing a cabin from touching a wall according to claim 1, characterized in that: Based on the positions of the designated components in the flow machine determined by the three-dimensional space model, the pushing angle and motion trajectory corresponding to the bucket are planned according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin, specifically including: Based on the three-dimensional space model, the initial state corresponding to the flow machine is obtained, and the operating parameters corresponding to the three-dimensional space model are obtained; wherein the operating parameters at least include: the cylinder extension amount and the rotation angle value corresponding to each designated component in the flow machine; Determine the position of each designated component in the flow machine according to the initial state corresponding to the flow machine and the cylinder extension and extension amount and rotation angle value corresponding to each designated component in the flow machine; Based on the positions of the designated components, determining the rotation angle of the flow machine according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin; According to the rotation angle of the flow machine, the maximum extension distance corresponding to the bucket is calculated, and the pushing angle corresponding to the bucket and the corresponding movement trajectory are planned.

5. A method for preventing a cabin from touching a wall according to claim 1, characterized in that: According to the pushing angle and the motion trajectory corresponding to the bucket, the bucket is controlled to work within the reference line, specifically including: According to the motion trajectory corresponding to the bucket, determining the motion direction and the designated height corresponding to the bucket in the motion trajectory; According to the pushing angle corresponding to the bucket, the bucket is controlled to extend to the specified height in the moving direction so that the bucket works within the reference line of the cabin.

6. A method for preventing a cabin from touching a wall according to claim 5, characterized in that: When the distance between the bucket and the designated position is less than a preset threshold, controlling the bucket to stop moving specifically includes: The pressure sensor is arranged on the lower wall of the cabin; The single-line laser radar is used to rotate and scan the cabin to obtain the distance between the bucket and the designated position, and to determine whether the distance between the bucket and the designated position is less than a preset threshold; wherein the designated position also includes a position corresponding to the bottom wall of the cabin; When the distance between the bucket and the designated position is less than a preset threshold, obtaining a pressure value corresponding to the pressure sensor; If the pressure value corresponding to the pressure sensor is greater than the standard pressure value, it is determined that the designated height of the bucket being extended is greater than the vertical distance between the bucket and the bottom wall of the cabin, and the bucket is controlled to stop moving.

7. A method for preventing a cabin from touching a wall according to claim 1, characterized in that: After controlling the bucket to work within the reference line according to the pushing angle and the motion trajectory corresponding to the bucket, the method further includes: Based on the corresponding pushing angle and movement trajectory of the bucket when cleaning the materials in the cabin, determining the corresponding coordinate position of the bucket in the three-dimensional space model after the bucket completes the cleaning work; Determine the next target working position of the flow machine based on the coordinate position of the bucket after the cleaning work is completed and the pre-trained motion model of the flow machine; The single-line laser radar is used to rotate and scan the cabin in real time to obtain the coordinate position corresponding to the obstacle in the cabin; According to the coordinate position corresponding to the obstacle and the next target working position corresponding to the flow machine, a motion trajectory of the flow machine moving to the next target working position is predicted.

8. A method for controlling a cabin against a wall according to claim 1, characterized in that: Determining the position of the bucket of the flow machine from the position information of the flow machine, and determining the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin according to the position of the bucket, specifically includes: Determine the coordinate position corresponding to the bucket from the flow machine position information of the three-dimensional space model, and project the coordinate position corresponding to the bucket onto the bottom wall of the bulkhead; Calculating the vertical distance between the coordinate position corresponding to the bucket and the projection position on the bottom wall of the cabin to obtain the vertical distance between the bucket and the bottom wall of the cabin; Based on the projection position on the bottom wall of the cabin and the reference line of the cabin, the horizontal distance between the bucket and the reference line is calculated.

9. A cabin anti-wall contact control device, characterized in that: The device comprises: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to: Acquiring posture data corresponding to the flow machine through a posture sensor arranged on the flow machine, and establishing a three-dimensional space model corresponding to the flow machine according to the posture data, so as to determine the position information of the flow machine through the three-dimensional space model; Acquire point cloud data corresponding to the cabin through a single-line laser radar, determine the concave points and convex points of the bulkhead according to the distance between the cabin curved surface corresponding to the point cloud data and the center of the cabin, and use the plane corresponding to the convex point of the bulkhead as the reference line of the cabin; Determine the position of the bucket of the flow machine from the position information of the flow machine, so as to determine the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin according to the position of the bucket; Based on the positions of the designated components in the flow machine determined by the three-dimensional space model, the corresponding pushing angle and movement trajectory of the bucket are planned according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin; According to the pushing angle and the motion trajectory, the bucket is controlled to work within the baseline, and when the distance between the bucket and the designated position is less than a preset threshold, the bucket is controlled to stop moving; wherein the designated position includes at least one or more of the following: the position corresponding to each designated component in the flow machine, the position corresponding to the baseline, and the position corresponding to the obstacle in the cabin.

10. A non-volatile computer storage medium storing computer executable instructions, characterized in that: The computer executable instructions are configured to: Acquiring posture data corresponding to the flow machine through a posture sensor arranged on the flow machine, and establishing a three-dimensional space model corresponding to the flow machine according to the posture data, so as to determine the position information of the flow machine through the three-dimensional space model; Acquire point cloud data corresponding to the cabin through a single-line laser radar, determine the concave points and convex points of the bulkhead according to the distance between the cabin curved surface corresponding to the point cloud data and the center of the cabin, and use the plane corresponding to the convex point of the bulkhead as the reference line of the cabin; Determine the position of the bucket of the flow machine from the position information of the flow machine, so as to determine the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin according to the position of the bucket; Based on the positions of the designated components in the flow machine determined by the three-dimensional space model, the corresponding pushing angle and movement trajectory of the bucket are planned according to the horizontal distance between the bucket and the reference line and the vertical distance between the bucket and the bottom wall of the cabin; According to the pushing angle and the motion trajectory, the bucket is controlled to work within the baseline, and when the distance between the bucket and the designated position is less than a preset threshold, the bucket is controlled to stop moving; wherein the designated position includes at least one or more of the following: the position corresponding to each designated component in the flow machine, the position corresponding to the baseline, and the position corresponding to the obstacle in the cabin.

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