Material truck hopper attitude control method, device, electronic equipment and medium

Abstract

The embodiments of this specification provide a method, device, electronic device, and medium for controlling the attitude of a hopper of a material vehicle. By pre-configuring a lidar on a paver that works in coordination with the material vehicle and making the emission surface of the lidar face the inside of the hopper of the material vehicle, during the process of unloading materials by the material vehicle, the lidar is used to collect the lidar point cloud data of the hopper of the material vehicle, and then based on the lidar point cloud data, the volume ratio of the remaining materials in the hopper to the entire hopper capacity space is obtained; thereby, the tilt angle of the hopper is adjusted based on this volume ratio, realizing the automatic control of the tilt angle of the hopper, which is beneficial to saving labor costs.

Description

Technical Field

[0001] The embodiments of this specification relate to the technical field of intelligent devices, and particularly to a method, device, electronic device and medium for controlling the attitude of a hopper of a material truck. Background Art

[0002] A paver, also known as a paving machine, is a construction device mainly used for paving various materials on the base course and surface course of highways. A hopper truck is a material truck used to transport materials to the hopper of a paver. In actual application, the paver and the hopper truck work in coordination. The hopper truck and the paver remain in a relatively static state, and the hopper truck unloads materials into the hopper of the paver while the paver simultaneously performs the paving operation of the materials. The volume of the hopper of the paver is generally smaller than that of the hopper of the hopper truck. The hopper truck first unloads materials at a relatively small inclination angle. When the paver has paved a certain amount of materials, the materials in the hopper truck cannot be unloaded. The roadside staff then notify the driver of the hopper truck to continue raising the inclination angle of the hopper to continue unloading the materials until the materials are completely unloaded, and then the staff notify the hopper truck to drive away from the paver.

[0003] That is to say, the coordination process between the paver and the hopper truck requires the participation of roadside staff. On the one hand, the labor cost is relatively high, and a lot of substances harmful to the human body, such as dust, are generated during the material unloading process, posing a safety hazard. On the other hand, if the staff's attention is not concentrated and the command is not timely, it is easy to occur that there is insufficient material or no material during the paving of the paver, resulting in problems such as uneven paving and insufficient paving width. Summary of the Invention

[0004] The embodiments of this specification provide a method, device, electronic device and medium for controlling the attitude of a hopper of a material truck.

[0005] In a first aspect, the embodiments of this specification provide a method for controlling the attitude of a hopper of a material truck. A lidar is provided on a paver that works in coordination with the material truck. The method includes:

[0006] During the process of the material truck unloading materials, the lidar is used to collect the lidar point cloud data of the hopper of the material truck, where the lidar point cloud data includes the material point cloud not blocked by the hopper baffle and the hopper baffle point cloud;

[0007] Based on the lidar point cloud data, obtain the volume ratio of the remaining materials in the hopper to the entire hopper capacity space;

[0008] Based on the volume ratio, adjust the inclination angle of the hopper.

[0009] Further, the obtaining the volume ratio of the remaining materials in the hopper to the entire hopper capacity space based on the lidar point cloud data includes:

[0010] Based on the material point cloud and the hopper baffle point cloud, obtain the first volume ratio of the unobstructed material to the hopper capacity space and the second volume ratio of the obstructed material to the hopper capacity space;

[0011] Perform a weighted sum of the first volume ratio and the second volume ratio to obtain the volume ratio of the remaining material in the hopper to the entire hopper capacity space, where the weighting coefficient is determined based on the current tilt angle of the hopper.

[0012] Further, the first volume ratio is obtained according to the following steps:

[0013] Based on the hopper baffle point cloud, determine the plane equation corresponding to the hopper top surface;

[0014] Based on the plane equation, obtain the average distance from the hopper point cloud to the hopper top surface;

[0015] Based on the average distance and the loading height of the hopper, obtain the first volume ratio.

[0016] Further, the lidar uses a lateral measurement method, and the hopper baffle point cloud includes: the lidar points of the hopper side baffle; the determining the plane equation corresponding to the hopper top surface based on the hopper baffle point cloud includes:

[0017] Based on the lidar points of the hopper side baffle, obtain the straight line equation corresponding to the upper edge of the side baffle;

[0018] Based on the straight line equation, obtain the plane equation corresponding to the hopper top surface;

[0019] Alternatively, the lidar uses a longitudinal measurement method, and the hopper baffle point cloud includes: the lidar points of the front and rear hopper baffles. The determining the plane equation corresponding to the hopper top surface based on the hopper baffle point cloud includes:

[0020] Based on the lidar points of the front and rear baffles, respectively obtain the first straight line equation corresponding to the upper edge line of the front baffle and the second straight line equation corresponding to the upper edge line of the rear baffle;

[0021] Based on the first straight line equation and the second straight line equation, obtain the plane equation corresponding to the hopper top surface.

[0022] Further, the second volume ratio is obtained according to the following steps:

[0023] Based on the projection points of the material point cloud on the YOZ plane of the lidar coordinate system, obtain the material distribution curve equation;

[0024] Based on the current tilt angle of the hopper, determine the coordinate range of the obstructed material;

[0025] Based on the material distribution curve equation and the coordinate range, determine the material distribution in the occluded hopper area;

[0026] Based on the material distribution in the occluded hopper area, obtain the second volume ratio.

[0027] Further, the obtaining the second volume ratio based on the material distribution in the occluded hopper area includes:

[0028] Based on the material distribution in the occluded hopper area, obtain the average distance from the occluded material to the top surface of the hopper; based on the obtained average distance and the loading height of the hopper, obtain the second volume ratio;

[0029] Alternatively, based on the material distribution in the occluded hopper area, obtain the first projected area on the YOZ plane of the capacity space between the surface of the occluded material and the top surface of the hopper; based on the current tilt angle of the hopper, determine the second projected area of the occluded hopper area on the YOZ plane; based on the first projected area and the second projected area, obtain the second volume ratio.

[0030] Further, the adjusting the tilt angle of the hopper based on the volume ratio includes:

[0031] If the volume ratio exceeds the volume ratio threshold range corresponding to the current tilt angle, send an adjustment instruction signal to the material truck so that the material truck adjusts the tilt angle of the hopper to continue unloading the material.

[0032] In a second aspect, an embodiment of this specification provides a device for controlling the attitude of a material truck hopper. A lidar is provided on a paver that works in cooperation with the material truck. The device includes:

[0033] A data acquisition module, configured to collect lidar point cloud data of the material truck hopper through the lidar during the process of the material truck unloading the material, where the lidar point cloud data includes material point clouds not blocked by the hopper baffle and hopper baffle point clouds;

[0034] A volume ratio determination module, configured to obtain the volume ratio of the remaining material in the hopper to the entire capacity space of the hopper based on the lidar point cloud data;

[0035] An attitude adjustment module, configured to adjust the tilt angle of the hopper based on the volume ratio.

[0036] In a third aspect, an embodiment of this specification provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the steps of the method for controlling the attitude of the material truck hopper provided in the first aspect above.

[0037] In a fourth aspect, an embodiment of this specification provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the material truck hopper attitude control method provided in the first aspect above are implemented.

[0038] For the material truck hopper attitude control method provided by an embodiment of this specification, a lidar is pre-set on a paver that works in coordination with the material truck, and the emission surface of the lidar is oriented towards the inside of the material truck hopper. Based on this, during the process of the material truck unloading materials, the lidar is used to collect the lidar point cloud data of the material truck hopper, including the material point cloud that is not blocked by the hopper baffle and the baffle point cloud. Then, based on the lidar point cloud data, the volume ratio of the remaining materials in the hopper to the entire hopper capacity space is obtained; thereby, based on this volume ratio, the tilt angle of the hopper is adjusted, realizing the automatic control of the hopper tilt angle, reducing manual operation, saving labor costs, and avoiding potential safety hazards to workers caused by harmful substances such as dust generated during the material unloading process; and it is beneficial to improve the timeliness of the coordinated control between the material truck and the paver. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a flowchart of a material truck hopper attitude control method provided by the first aspect of the embodiment of this specification;

[0040] Figure 2 It is a schematic diagram of a lidar measurement scenario provided by the embodiment of this specification;

[0041] Figure 3 It is a schematic projection diagram of the baffle lidar point cloud during lateral measurement provided by the embodiment of this specification;

[0042] Figure 4 It is a block diagram of a material truck hopper attitude control device provided by the second aspect of the embodiment of this specification;

[0043] Figure 5 It is a schematic structural diagram of an electronic device provided by the third aspect of the embodiment of this specification. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] To better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below through the drawings and specific embodiments. It should be understood that the specific features in the embodiments of this specification and the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. Without conflict, the technical features in the embodiments of this specification and the embodiments can be combined with each other.

[0045] In a first aspect, as Figure 1As shown in the figure, the method for controlling the attitude of the hopper of the material truck provided by the embodiments of the present specification at least includes the following steps S101 to S103.

[0046] Step S101, during the process of unloading materials by the material truck, collect the laser point cloud data of the hopper of the material truck through a lidar. Among them, the laser point cloud data includes the material point cloud not blocked by the hopper baffle and the hopper baffle point cloud.

[0047] As Figure 2 shown, the hopper 210 of the material truck includes a front baffle 211, a rear baffle 212, a left baffle 213, and a right baffle 214, and the hopper 210 contains materials (not shown in the figure). For example, during the process of unloading materials from the material truck to the paver, the attitude of the hopper 210 of the material truck is inclined, the bottom of the rear baffle 212 is opened, and a discharge channel is formed between the bottom surface of the hopper 210, and the materials are unloaded from this channel into the hopper 210 of the paver.

[0048] The lidar 200 needs to be installed at a position where the material distribution in the hopper 210 of the material truck can be collected. For example, considering that the material truck works in coordination with the paver and will move following the paver and remain relatively stationary with the paver during the unloading process. In order to reduce engineering costs and improve detection stability, the lidar 200 can be set on the paver, so that the material detection can form a radar to detect multiple material trucks, and the lidar 200 also remains relatively stationary with the material truck to collect relatively stable lidar 200 data of the hopper 210.

[0049] After the laser emission surface of the lidar 200 is installed facing the hopper 210 of the material truck, the directions of the respective coordinate axes in the lidar 200 coordinate system are determined. As Figure 2 shown, the positive direction of the Y axis of the lidar 200 coordinate system is directly in front of the emission surface of the lidar 200. Based on the front of the emission surface as a reference, the positive direction of the X axis (not shown in the figure) is directly to the right of the lidar 200, and the Z axis direction is directly above the lidar 200. In this scenario, due to the installation of the lidar 200 having a depression angle θ, the Y axis in the lidar 200 coordinate system is inclined downward towards the inside of the hopper 210 of the material truck.

[0050] It should be noted that during the process of unloading materials by the material truck, the lidar 200 can be controlled to collect the laser point cloud data of the hopper 210 of the material truck according to a preset sampling frequency. For each acquisition of the laser point cloud data at a sampling time point, the following processing procedures of steps S102 to S103 are performed on the laser point cloud data.

[0051] Step S102, based on the laser point cloud data, obtain the volume ratio of the remaining materials in the hopper to the entire hopper capacity space.

[0052] Since the lidar 200 has a certain viewing angle, the collected lidar point cloud data may include: hopper baffle point cloud, material point cloud, and point clouds of other surrounding objects such as green belts and guardrails on the roadside. Therefore, it is necessary to preprocess the collected lidar point cloud data to separately screen out the material point cloud and the hopper baffle point cloud among them. Calculating the material volume based on the hopper baffle points takes into account the problem of the hopper baffle blocking some materials, making the material calculation more accurate.

[0053] The measurement directions of the lidar 200 are different, and the detected baffles are also different. For example, if the lidar 200 samples the horizontal measurement method, that is, it has a relatively large viewing angle on the XOY plane and a relatively small viewing angle on the YOZ plane. At this time, the hopper baffle point cloud may include the lidar point clouds corresponding to the left baffle 213 and the right baffle 214 mentioned above. If the lidar 200 samples the longitudinal measurement method, that is, it has a relatively large viewing angle on the YOZ plane and a relatively small viewing angle on the XOY plane. At this time, the hopper baffle point cloud may include the lidar point clouds corresponding to the front baffle 211 and the rear baffle 212 mentioned above.

[0054] Based on the material point cloud and the hopper baffle point cloud, the volume ratio of the material occupying the capacity space of the hopper can be obtained. Specifically, the plane equation corresponding to the hopper top surface can be determined based on the hopper baffle point cloud first; then, based on the plane equation, the average distance from the hopper point cloud to the hopper top surface can be obtained; and then, based on the average distance and the loading height of the hopper, this volume ratio can be obtained.

[0055] Specifically, due to the different measurement methods of the lidar 200, the hopper baffle point clouds are different, and the process of obtaining the above plane equation is also different. The following will explain this processing process for horizontal measurement and longitudinal measurement respectively.

[0056] When the lidar 200 adopts the horizontal measurement method, the straight line equation corresponding to the upper edge of the side baffle can be obtained based on the lidar point cloud of the side baffle of the hopper; then, based on this straight line equation, the plane equation corresponding to the hopper top surface can be obtained. Among them, the side baffle may refer to the left baffle 213 and / or the right baffle 214.

[0057] For example, the lidar point cloud of the left baffle 213 can be projected onto the YOZ plane to obtain the projection points corresponding to the left baffle 213. As Figure 3 shown, the projection of the detection area of the hopper by the lidar 200 on the YOZ plane is divided into n small intervals; the highest valid point (such as Figure 3 the black dot shown) among the projection points in each interval is taken. Figure 3The projection points marked by the dashed circles in the middle); for the highest points in each obtained small interval, linear feature extraction is performed to obtain the linear equation of the line. For example, the RANSAC algorithm can be used as the linear feature extraction algorithm. This linear equation represents the upper edge line of the left baffle 213. Further, the top surface inclination angle of the hopper and the plane equation of the top surface can be calculated using the linear equation. Then, the average distance from the material point cloud to the top surface is calculated as the capacity index. Dividing this capacity index by the preset hopper loading height can obtain the ratio σ of the distance between the material surface and the hopper top surface to the hopper loading height. Then the ratio δ of the material height to the hopper loading height is: 1 - σ. It should be noted that the "material height" and "hopper loading height" in this article both refer to the height perpendicular to the hopper bottom surface, and the "hopper loading height" is the height from the hopper top surface to the bottom surface.

[0058] Since the bottom area of the hopper is the same as the bottom area of the material, the height ratio δ can be used as the volume ratio of the material occupying the capacity space of the hopper where it is located.

[0059] When the lidar 200 adopts the longitudinal measurement method, based on the lidar point clouds of the front baffle 211 and the rear baffle 212, the first linear equation corresponding to the upper edge line of the front baffle 211 and the second linear equation corresponding to the upper edge line of the rear baffle 212 can be obtained respectively; based on the first linear equation and the second linear equation, the plane equation corresponding to the hopper top surface can be obtained.

[0060] For example, according to the different distances, the lidar point cloud corresponding to the front baffle 211 and the lidar point cloud corresponding to the rear baffle 212 can be distinguished. The highest valid point in the lidar point cloud of the front baffle 211 is detected, and the RANSAC algorithm is used for linear feature extraction to obtain the above first linear equation. Similarly, the highest valid point in the lidar point cloud of the rear baffle 212 is detected, and the RANSAC algorithm is used for linear feature extraction to obtain the above second linear equation. Then, plane fitting is performed on the first linear equation and the second linear equation to obtain the plane equation of the hopper top surface. According to this plane equation, the current inclination angle of the current hopper top surface relative to the ground plane, that is, the current hopper attitude, can also be calculated. Then, similar to the processing process of the above transverse measurement method, the average distance from the material point cloud to the top surface is calculated as the capacity index, and further the volume ratio of the material occupying the capacity space of the hopper where it is located is obtained.

[0061] Further, due to the certain height of the hopper baffle of the material truck, in some examples, the baffle of the hopper of the material truck may block a part of the view of the lidar 200, resulting in the fact that the material point cloud collected by the above lidar 200 is not the point cloud data of all the materials in the hopper, but the point cloud of the part of the material that is not blocked by the baffle. For example, taking the lidar 200 installed on the paver as an example, if a part of the view of the lidar 200 is blocked by the rear baffle 212 of the hopper, the collected material point cloud is the laser point cloud corresponding to the material that is not blocked by the rear baffle 212.

[0062] In order to further improve the accuracy of the obtained remaining material volume ratio, in some examples, the volume ratio obtained in the above process can be considered as: the first volume ratio of the unblocked material to the capacity space of the hopper where it is located, and then the second volume ratio of the blocked material to the capacity space of the hopper where it is located is obtained. The first volume ratio is adjusted based on the second volume ratio to obtain the volume ratio of the remaining material to the entire capacity space of the hopper. Of course, in other examples, the problem of baffle blockage can also be not considered, and the obtained volume ratio can be used as the volume ratio of the remaining material to the entire capacity space of the hopper. This embodiment does not limit this.

[0063] Specifically, the process of obtaining the above second volume ratio can include: first determining the material distribution in the blocked hopper area, and then obtaining the second volume ratio based on the material distribution in the blocked hopper area.

[0064] Taking the scenario where the material is blocked by the rear baffle 212 as an example, the process of determining the material distribution in the blocked hopper area can include: obtaining the material distribution curve equation based on the projection points of the material point cloud on the YOZ plane of the lidar 200 coordinate system; determining the coordinate range of the blocked material based on the current inclination angle of the hopper; and determining the material distribution in the blocked hopper area based on the material distribution curve equation and the coordinate range.

[0065] For example, the unblocked material point cloud can be projected onto the YOZ plane. Along the Y-axis direction, the projection area corresponding to the material point cloud is divided into multiple sub-regions. The highest projection points (the points with the largest Z coordinate) of each sub-region can form an irregular curve, and this curve represents the distribution trend of the highest points on the material surface along the length direction of the hopper. Since the material pouring speed is relatively uniform, this curve will show a relatively smooth distribution. Linear regression is performed on the above highest projection points to obtain a regression curve equation, that is, the material distribution curve equation.

[0066] In addition, based on the current tilt angle of the hopper and the position and attitude information of the lidar 200 (including depression angle, height, distance between the lidar 200 and the tail end of the hopper, etc.), the coordinate range of the occluded material (such as the Y coordinate range) can be calculated. Among them, the current tilt angle can be obtained by calculating the angle between the plane equation corresponding to the hopper top surface and the ground plane. Alternatively, the coordinate ranges of the occluded material corresponding to different tilt angles can be calculated in advance and stored in a preset correspondence table. After determining the current tilt angle of the hopper, the coordinate range of the occluded material can be determined by looking up the preset correspondence table.

[0067] Substituting the determined coordinate range into the above material distribution curve equation, the material distribution in the area blocked by the baffle can be predicted.

[0068] In some examples, based on the material distribution in the occluded hopper area, the average distance from the occluded material to the hopper top surface can be obtained; based on the obtained average distance and the loading height of the hopper itself, the above second volume ratio can be obtained. Among them, the plane equation corresponding to the hopper top surface can be obtained in the calculation process of the above first volume ratio. Similarly, dividing the obtained average distance by the preset loading height of the hopper can obtain the ratio of the distance between the surface of the occluded material and the hopper top surface to the hopper height. Then the ratio ε of the height of the occluded material to the loading height of the hopper is: Since the bottom area of the hopper in the occluded hopper area is the same as the bottom area of the material, therefore, the height ratio ε can be used as the second volume ratio of the occluded material occupying the capacity space of the hopper where it is located.

[0069] In some examples, based on the material distribution in the occluded hopper area, the first projected area of the capacity space between the surface of the occluded material and the hopper top surface on the YOZ plane can also be obtained; based on the current tilt angle of the hopper, the second projected area of the occluded hopper area on the YOZ plane of the lidar 200 coordinate system can be determined; based on the first projected area and the second projected area, the above second volume ratio can be obtained.

[0070] For example, according to the plane equation corresponding to the hopper top surface, the hopper top surface can be projected onto the YOZ plane to obtain the projected straight line corresponding to the hopper top surface; then according to the coordinate range of the occluded material, the straight line segment corresponding to the occluded material in the projected straight line can be obtained. Integrating the area enclosed by the material distribution in the occluded hopper area and this straight line segment can obtain the first projected area. According to the current tilt angle of the hopper and the position and attitude information of the lidar 200, the second projected area of the occluded hopper area on the YOZ plane can be obtained. Calculating the ratio of the first projected area to the second projected area, and then subtracting this ratio from 1 can be used as the second volume ratio of the occluded material occupying the capacity space of the hopper where it is located.

[0071] In some examples, by performing a weighted sum of the above-mentioned first volume ratio and the second volume ratio, the volume ratio of the remaining material in the hopper to the entire hopper capacity space can be obtained. For example, according to the following formula:

[0072] v = (1 - w) * v1 + w * v2

[0073] The volume ratio v of the remaining material in the hopper to the entire hopper capacity space is obtained. v1 represents the first volume ratio, that is, the volume ratio of the unobstructed material to the hopper capacity space where it is located; v2 represents the second volume ratio, that is, the volume ratio of the obstructed material to the hopper capacity space where it is located, and w represents the weight coefficient, which can take a value greater than or equal to 0 and less than 1.

[0074] Since the inclination angle of the hopper is different, the proportion of the obstructed part is also different. The weighting coefficient w can be determined based on the current inclination angle of the hopper. The larger the current inclination angle, the less the obstructed part, and the smaller w. For example, multiple weight coefficients corresponding to different inclination angle ranges can be determined in advance through multiple experiments and calculations and stored correspondingly, so as to find the corresponding weight coefficient according to the current inclination angle.

[0075] Of course, in addition to the inclination angle of the hopper, the proportion of the obstructed part is also affected by other position factors, such as the horizontal distance s of the lidar 200 from the tail end of the hopper, the vertical height H of the lidar 200 from the tail end of the hopper, the height h of the hopper itself, and the length L of the hopper, as Figure 2 shown. For example, in some examples, assuming that the inclination angle of the hopper relative to the ground plane is α, the weighting coefficient w can also be calculated according to the following formula:

[0076]

[0077] where

[0078] Predicting the distribution of the obstructed material to adjust the volume ratio obtained from the lidar point cloud of the material not blocked by the baffle is beneficial to improving the accuracy of the remaining material volume ratio detection, and thus improving the accuracy of the attitude control of the hopper of the material truck.

[0079] After determining the volume ratio of the remaining material in the hopper to the entire hopper capacity space, the following step S013 can be executed.

[0080] Step S103, adjusting the inclination angle of the hopper based on the volume ratio.

[0081] For example, multiple volume ratio threshold ranges corresponding to different tilt angles can be preset. For example, four levels of volume ratio threshold ranges can be set, which are [100%, 80%), [80%, 50%), [50%, 30%), and [30%, 0] respectively. The hopper tilt angles corresponding to the above four levels of volume ratio threshold ranges are α0, α1, α2, and α3 respectively, and α0 < α1 < α2 < α3.

[0082] Compare the volume ratio obtained in the above step S102 with the volume ratio threshold range corresponding to the current tilt angle. If the volume ratio exceeds the volume ratio threshold range corresponding to the current tilt angle, send an adjustment instruction signal to the material vehicle so that the material vehicle adjusts the hopper tilt angle to continue unloading the material. If the volume ratio does not exceed the volume ratio threshold range corresponding to the current tilt angle, continue to wait for the next detection result until the unloading is completed.

[0083] For example, when the current tilt angle is α0 and the corresponding volume ratio threshold range is [100%, 80%), if the obtained volume ratio is 90%, continue to wait; if the obtained volume ratio is 70%, send an adjustment instruction signal to the material vehicle so that the material vehicle adjusts the hopper tilt angle from α0 to α1.

[0084] In specific implementation, the processing procedures of the above steps S101 to S103 can be implemented by a pre-configured edge computing unit. The adjustment instruction signal can be sent to a mobile terminal such as a mobile phone equipped for the driver of the material vehicle through a pre-configured signal sending unit, or can also be sent to an in-vehicle terminal configured on the material vehicle. A corresponding signal receiving unit is configured in the mobile terminal or the in-vehicle terminal. For example, the signal sending and receiving can be realized through wireless signal transmission methods such as Bluetooth, wifi, 2G / 3G / 4G / 5G, etc.

[0085] After the material vehicle, such as a mobile terminal or an in-vehicle terminal equipped for the driver, receives the adjustment instruction signal, it can initiate a hopper tilt angle adjustment instruction to the driver, and the driver can adjust the hopper tilt angle to the next gear according to the instruction.

[0086] For example, the hopper tilt angle adjustment instruction can be initiated by means of voice broadcast, such as broadcasting a voice prompt of "Please adjust the hopper tilt angle", or can also display a text prompt of "Please adjust the hopper tilt angle" on the display screen, or can also be prompted by lighting an indicator light, etc.

[0087] Or, in other examples, after the mobile terminal or the in-vehicle terminal receives the adjustment instruction signal, it can also respond to the adjustment instruction signal and send a control signal to the hopper attitude control device so that the hopper attitude control device adjusts the hopper tilt angle to the next gear without the driver's operation.

[0088] The operation of the staff is replaced by the lidar 200, the edge computing unit and the signal unit, which saves manpower and improves the timeliness and accuracy of the cooperative control of the material truck and the paver.

[0089] In a second aspect, based on the same inventive concept as the material truck hopper attitude control method provided in the foregoing first aspect embodiments, the embodiments of the present specification also provide a material truck hopper attitude control device. A lidar 200 is provided on the paver that cooperates with the material truck. As Figure 4 shown, the material truck hopper attitude control device 40 includes:

[0090] A data acquisition module 401, configured to collect lidar point cloud data of the material truck hopper through the lidar during the process of the material truck unloading materials, wherein the lidar point cloud data includes material point clouds not blocked by the hopper baffle and hopper baffle point clouds;

[0091] A volume ratio determination module 402, configured to obtain the volume ratio of the remaining materials in the hopper to the entire hopper capacity space based on the lidar point cloud data;

[0092] An attitude adjustment module 403, configured to adjust the tilt angle of the hopper based on the volume ratio.

[0093] In some examples, the above volume ratio determination module 402 includes:

[0094] A determination sub-module, configured to obtain a first volume ratio of the unblocked materials to the hopper capacity space where they are located and a second volume ratio of the blocked materials to the hopper capacity space where they are located based on the material point clouds and the hopper baffle point clouds;

[0095] An adjustment sub-module, configured to perform weighted summation on the first volume ratio and the second volume ratio to obtain the volume ratio of the remaining materials in the hopper to the entire hopper capacity space, wherein the weighting coefficient is determined based on the current tilt angle of the hopper.

[0096] In some examples, the above determination sub-module is specifically configured to:

[0097] Based on the hopper baffle point clouds, determine the plane equation corresponding to the hopper top surface;

[0098] Based on the plane equation, obtain the average distance from the hopper point cloud to the hopper top surface;

[0099] Based on the average distance and the loading height of the hopper, obtain the first volume ratio.

[0100] In some examples, the lidar adopts a lateral measurement method, and the hopper baffle point clouds include: lidar point clouds of the side baffle of the hopper. At this time, the above determination sub-module is specifically configured to:

[0101] Based on the laser point cloud of the side baffle of the hopper, obtain the straight-line equation corresponding to the upper edge of the side baffle;

[0102] Based on the straight-line equation, obtain the plane equation corresponding to the top surface of the hopper;

[0103] Alternatively, the lidar adopts a longitudinal measurement method, and the hopper baffle point cloud includes the laser point clouds of the front and rear baffles of the hopper. At this time, the above determination sub-module is specifically used for:

[0104] Based on the laser point clouds of the front and rear baffles, respectively obtain the first straight-line equation corresponding to the upper edge line of the front baffle and the second straight-line equation corresponding to the upper edge line of the rear baffle;

[0105] Based on the first straight-line equation and the second straight-line equation, obtain the plane equation corresponding to the top surface of the hopper.

[0106] In some examples, the above determination sub-module is specifically used for:

[0107] Based on the projection points of the material point cloud on the YOZ plane of the lidar coordinate system, obtain the material distribution curve equation;

[0108] Based on the current inclination angle of the hopper, determine the coordinate range of the occluded material;

[0109] Based on the material distribution curve equation and the coordinate range, determine the material distribution in the occluded hopper area;

[0110] Based on the material distribution in the occluded hopper area, obtain the second volume ratio.

[0111] In some examples, the above determination sub-module is specifically used for:

[0112] Based on the material distribution in the occluded hopper area, obtain the average distance from the occluded material to the top surface of the hopper; based on the obtained average distance and the loading height of the hopper, obtain the second volume ratio;

[0113] Alternatively, based on the material distribution in the occluded hopper area, obtain the first projected area on the YOZ plane of the capacity space between the surface of the occluded material and the top surface of the hopper; based on the current inclination angle of the hopper, determine the second projected area on the YOZ plane of the occluded hopper area; based on the first projected area and the second projected area, obtain the second volume ratio.

[0114] In some examples, the attitude adjustment module 403 is specifically used for:

[0115] If the volume ratio exceeds the volume ratio threshold range corresponding to the current tilt angle, an adjustment instruction signal is sent to the material truck so that the material truck adjusts the tilt angle of the hopper to continue unloading materials.

[0116] It should be noted that for the material truck hopper attitude control device 40 provided in the embodiments of this specification, the specific manners in which each module performs operations have been described in detail in the method embodiments provided in the above first aspect. The specific implementation process can refer to the method embodiments provided in the above first aspect, and will not be elaborated here.

[0117] In a third aspect, based on the same inventive concept as the material truck hopper attitude control method provided in the foregoing embodiments, the embodiments of this specification also provide an electronic device. As Figure 5 shown, the electronic device includes a memory 504, one or more processors 502, and a computer program stored on the memory 504 and executable on the processor 502. When the processor 502 executes the program, it implements the steps of any of the embodiments of the material truck hopper attitude control method provided in the foregoing first aspect or second aspect. For example, the electronic device can be an edge computing device, a personal computer, a tablet computer, a vehicle-mounted terminal, or a server, etc., which are devices with data processing functions.

[0118] Among them, in Figure 5 , the bus architecture (represented by the bus 500), the bus 500 can include any number of interconnected buses and bridges. The bus 500 links various circuits including one or more processors represented by the processor 502 and the memory represented by the memory 504 together. The bus 500 can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and thus will not be further described herein. The bus interface 505 provides an interface between the bus 500 and the receiver 501 and the transmitter 503. The receiver 501 and the transmitter 503 can be the same element, that is, a transceiver, which provides a unit for communicating with various other devices on the transmission medium. The processor 502 is responsible for managing the bus 500 and general processing, while the memory 504 can be used to store data used by the processor 502 when performing operations.

[0119] It can be understood that Figure 5 the structure shown is only schematic. The electronic device provided in the embodiments of this specification may further include more or fewer components than Figure 5 shown, or have a different configuration from Figure 5 shown. Figure 5 Each component shown in

[0120] Fourthly, based on the same inventive concept as the hopper attitude control method of the material vehicle provided in the foregoing embodiments, an embodiment of this specification also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the steps of any one of the hopper attitude control methods provided in the first aspect above.

[0121] The specific embodiments of this specification have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the particular order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0122] This specification is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of this specification. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0123] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that implements the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are performed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0125] Although the preferred embodiments of the present specification have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of this specification.

[0126] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalent technologies, this specification is also intended to include these modifications and variations.

Claims

1. A method for controlling the attitude of the hopper of a material truck, characterized in that, a lidar is provided on a paver that works in cooperation with the material truck, and the method includes: During the process of the material truck unloading materials, the lidar is used to collect the lidar point cloud data of the hopper of the material truck, wherein the lidar point cloud data includes the material point cloud not blocked by the hopper baffle and the hopper baffle point cloud; Based on the lidar point cloud data, obtain the volume ratio of the remaining materials in the hopper to the entire hopper capacity space; Adjust the tilt angle of the hopper based on the volume ratio; Wherein, the obtaining the volume ratio of the remaining materials in the hopper to the entire hopper capacity space based on the lidar point cloud data includes: based on the material point cloud and the hopper baffle point cloud, obtaining the first volume ratio of the unblocked materials to the hopper capacity space where they are located, and the second volume ratio of the blocked materials to the hopper capacity space where they are located; performing weighted summation on the first volume ratio and the second volume ratio to obtain the volume ratio of the remaining materials in the hopper to the entire hopper capacity space, wherein the weighting coefficient is determined based on the current tilt angle of the hopper.

2. The method according to claim 1, characterized in that, the first volume ratio is obtained according to the following steps: Based on the hopper baffle point cloud, determine the plane equation corresponding to the top surface of the hopper; Based on the plane equation, obtain the average distance from the material point cloud to the top surface of the hopper; Based on the average distance and the loading height of the hopper, obtain the first volume ratio.

3. The method according to claim 2, characterized in that, the lidar adopts a transverse measurement method, and the hopper baffle point cloud includes: the lidar point cloud of the side baffle of the hopper; the determining the plane equation corresponding to the top surface of the hopper based on the hopper baffle point cloud includes: Based on the lidar point cloud of the side baffle of the hopper, obtain the straight line equation corresponding to the upper edge of the side baffle; Based on the straight line equation, obtain the plane equation corresponding to the top surface of the hopper; Alternatively, the lidar adopts a longitudinal measurement method, and the hopper baffle point cloud includes: the lidar point cloud of the front and rear baffles of the hopper, and the determining the plane equation corresponding to the top surface of the hopper based on the hopper baffle point cloud includes: Based on the lidar point cloud of the front and rear baffles, respectively obtain the first straight line equation corresponding to the upper edge line of the front baffle and the second straight line equation corresponding to the upper edge line of the rear baffle; Based on the first straight line equation and the second straight line equation, obtain the plane equation corresponding to the top surface of the hopper.

4. The method according to claim 1, characterized in that, the second volume ratio is obtained according to the following steps: Based on the projection points of the material point cloud on the YOZ plane of the lidar coordinate system, obtain the material distribution curve equation; Based on the current tilt angle of the hopper, determine the coordinate range of the blocked materials; Based on the material distribution curve equation and the coordinate range, determine the material distribution in the blocked hopper area; Based on the material distribution in the blocked hopper area, obtain the second volume ratio.

5. The method according to claim 4, characterized in that, Said obtaining the second volume ratio based on the material distribution in the occluded hopper area includes: Based on the material distribution in the occluded hopper area, obtaining the average distance from the occluded material to the top surface of the hopper; based on the obtained average distance and the loading height of the hopper, obtaining the second volume ratio; Alternatively, based on the material distribution in the occluded hopper area, obtaining the first projected area on the YOZ plane of the capacity space between the surface of the occluded material and the top surface of the hopper; based on the current tilt angle of the hopper, determining the second projected area of the occluded hopper area on the YOZ plane; based on the first projected area and the second projected area, obtaining the second volume ratio.

6. The method according to claim 1, wherein, said adjusting the tilt angle of the hopper based on the volume ratio includes: If the volume ratio exceeds the volume ratio threshold range corresponding to the current tilt angle, sending an adjustment instruction signal to the material truck so that the material truck adjusts the tilt angle of the hopper to continue unloading materials.

7. A device for controlling the attitude of a material truck hopper, wherein, A lidar is provided on the paver that works in cooperation with the material truck, and the device includes: A data acquisition module, configured to collect the lidar point cloud data of the material truck hopper through the lidar during the process of the material truck unloading materials, wherein the lidar point cloud data includes the material point cloud not blocked by the hopper baffle and the hopper baffle point cloud; A volume ratio determination module, configured to obtain the volume ratio of the remaining materials in the hopper to the entire capacity space of the hopper based on the lidar point cloud data; An attitude adjustment module, configured to adjust the tilt angle of the hopper based on the volume ratio; Wherein, the volume ratio determination module includes: A determination sub-module, configured to obtain the first volume ratio of the unblocked materials to the capacity space of the hopper where they are located and the second volume ratio of the blocked materials to the capacity space of the hopper where they are located based on the material point cloud and the hopper baffle point cloud; An adjustment sub-module, configured to perform weighted summation on the first volume ratio and the second volume ratio to obtain the volume ratio of the remaining materials in the hopper to the entire capacity space of the hopper, wherein the weighting coefficient is determined based on the current tilt angle of the hopper.

8. An electronic device, wherein, includes: A memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, it implements the steps of the method according to any one of claims 1-6.

9. A computer-readable storage medium, wherein, A computer program is stored thereon, and when the program is executed by a processor, it implements the steps of the method according to any one of claims 1-6.

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