Loading method, device, electronic equipment and storage medium for mining operations

Abstract

The present disclosure relates to a loading method, device, electronic device, and storage medium for mining operations. The method includes: obtaining position information of a positioning auxiliary device during the process of loading a transport vehicle with an excavator; wherein the positioning auxiliary device is set at the boundary of the transport vehicle's bucket; determining the regional position information of the transport vehicle's bucket based on the position information of the positioning auxiliary device; performing a loading operation on the transport vehicle based on the regional position information of the bucket; and controlling a liftable blocking device to be in a raised state upon detecting that the transport vehicle enters the loading area to limit the movement range of the excavator's bucket to the effective loading area of ​​the transport vehicle. In this way, by determining the regional position information of the transport vehicle's bucket, accurate loading operations can be performed on the transport vehicle, which can greatly improve the efficiency of the loading operation.

Description

Technical Field

[0001] The present disclosure relates to the field of unmanned driving technology, and in particular to a loading method, device, electronic equipment and storage medium for mining operations. Background Art

[0002] Current unmanned mining operations primarily include mining, transportation, and unloading. Mining refers to the process of excavating and collecting materials, which requires the collaboration of an excavator and a transport vehicle. Transportation and unloading, respectively, are the processes of transporting and unloading materials, which can be performed solely by transport vehicles.

[0003] During the loading process of an excavator, inertial navigation systems (INS) installed on both the excavator and the transport vehicle are typically used to adjust the positions or postures of both vehicles so that the load in the excavator's bucket lands within the transport vehicle's bucket. However, INS often exhibits positioning errors that increase over time, resulting in long-term poor accuracy. This inability to accurately determine the bucket's location significantly impacts loading efficiency. Summary of the Invention

[0004] The present disclosure provides a loading method, device, electronic equipment and storage medium for mining operations.

[0005] According to a first aspect of the present disclosure, a loading method for mining operations is provided, the method comprising:

[0006] During the process of loading the transport vehicle with the excavator, position information of the positioning auxiliary device is obtained; wherein the positioning auxiliary device is set at the boundary of the bucket of the transport vehicle;

[0007] Determining regional position information of the bucket of the transport vehicle based on the position information of the positioning auxiliary device;

[0008] Performing loading operation on the transport vehicle based on the regional position information of the vehicle bucket;

[0009] When it is detected that the transport vehicle enters the loading area, the liftable blocking device is controlled to be in a raised state to limit the movement range of the excavator bucket within the effective loading area of ​​the transport vehicle; wherein, the positioning auxiliary equipment includes a liftable blocking device, and the height of the liftable blocking device is greater than a preset height.

[0010] Optionally, the liftable blocking device is provided on the target side of the bucket; and the acquiring of position information of the positioning auxiliary device includes:

[0011] Rotating the shovel arm of the excavator; wherein the shovel arm passes over at least a portion of the bucket during the rotation, and the height of the bucket connected to the shovel arm is not greater than the preset height;

[0012] When the excavator contacts the liftable blocking device, position information of the contact portion is acquired, and the position information of the contact portion is used as position information of the positioning auxiliary device.

[0013] Optionally, the direction of the transport vehicle is the same as the direction of the excavator; and determining the regional position information of the bucket of the transport vehicle based on the position information of the positioning auxiliary device includes:

[0014] Acquiring parameter information of the truck bucket, wherein the parameter information includes the width of the truck bucket;

[0015] Based on the parameter information and the position information of the positioning auxiliary device, regional position information of the vehicle bucket is determined.

[0016] Optionally, the positioning auxiliary device includes a positioning sensor; and the loading operation on the transport vehicle based on the regional position information of the bucket includes:

[0017] Determining a target loading position of the excavator based on the position information of the positioning sensor; wherein the target loading position is located in an area within a preset range centered on the position of the positioning sensor;

[0018] The transport vehicle is loaded at the target loading position.

[0019] Optionally, the positioning auxiliary device includes distance measuring sensors respectively arranged at the four corners of the vehicle bucket, and the position information of the positioning auxiliary device includes position information corresponding to the distance measuring sensors at the four corners of the vehicle bucket.

[0020] Optionally, the loading operation on the transport vehicle based on the regional position information of the bucket includes:

[0021] Dividing the area of ​​the bucket into a plurality of sub-areas according to the area position information of the bucket;

[0022] The loading operations are performed on the multiple sub-areas respectively.

[0023] Optionally, the method further includes:

[0024] When the distance moved by the excavator is greater than a preset distance, sending position update information to the transport vehicle;

[0025] When it is detected that the transport vehicle has completed moving based on the position update information, the regional position information of the bucket is reacquired, and the transport vehicle is loaded based on the reacquired regional position information of the bucket.

[0026] According to a second aspect of the present disclosure, a loading device for mining operations is provided, the device comprising:

[0027] A first position information acquisition module is used to acquire position information of a positioning auxiliary device during the process of the excavator loading the transport vehicle; wherein the positioning auxiliary device is set at the boundary of the bucket of the transport vehicle;

[0028] A second position information acquisition module is used to determine the regional position information of the bucket of the transport vehicle based on the position information of the positioning auxiliary device;

[0029] An operation module, configured to perform loading operations on the transport vehicle based on the regional position information of the vehicle bucket;

[0030] A control module is used to control the liftable blocking device to be in a raised state when detecting that the transport vehicle enters the loading area, so as to limit the movement range of the excavator bucket to the effective loading area of ​​the transport vehicle; wherein, the positioning auxiliary equipment includes a liftable blocking device, and the height of the blocking device raised is greater than a preset height.

[0031] Optionally, the liftable blocking device is provided on the target side of the bucket; the first position information acquisition module is specifically configured to:

[0032] Rotating the shovel arm of the excavator; wherein the shovel arm passes over at least a portion of the bucket during the rotation, and the height of the bucket connected to the shovel arm is not greater than the preset height;

[0033] When the excavator contacts the liftable blocking device, position information of the contact portion is acquired, and the position information of the contact portion is used as position information of the positioning auxiliary device.

[0034] Optionally, the body direction of the transport vehicle is the same as the body direction of the excavator; and the second position information acquisition module is further configured to:

[0035] Acquiring parameter information of the truck bucket, wherein the parameter information includes the width of the truck bucket;

[0036] Based on the parameter information and the position information of the positioning auxiliary device, regional position information of the vehicle bucket is determined.

[0037] Optionally, the positioning auxiliary device includes a positioning sensor; and the operation module is further configured to:

[0038] Determining a target loading position of the excavator based on the position information of the positioning sensor; wherein the target loading position is located in an area within a preset range centered on the position of the positioning sensor;

[0039] The transport vehicle is loaded at the target loading position.

[0040] Optionally, the positioning auxiliary device includes distance measuring sensors respectively arranged at the four corners of the vehicle bucket, and the position information of the positioning auxiliary device includes position information corresponding to the distance measuring sensors at the four corners of the vehicle bucket.

[0041] Optionally, the operation module is further configured to:

[0042] Dividing the area of ​​the bucket into a plurality of sub-areas according to the area position information of the bucket;

[0043] The loading operations are performed on the multiple sub-areas respectively.

[0044] Optionally, the loading device for mining operations further includes:

[0045] An information sending module, configured to send location update information to the transport vehicle when the distance moved by the excavator is greater than a preset distance;

[0046] A processing module is used to re-acquire the regional position information of the bucket when detecting that the transport vehicle has completed the movement based on the position update information, and perform loading operations on the transport vehicle based on the re-acquired regional position information of the bucket.

[0047] According to a third aspect of the present disclosure, an electronic device is provided, comprising: a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above method when executing the program.

[0048] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the above method of the present disclosure is implemented.

[0049] The loading method, device, electronic device, and storage medium for mining operations provided by the embodiments of the present disclosure, during the process of an excavator loading a transport vehicle, obtains the position information of a positioning auxiliary device, and determines the regional position information of the transport vehicle's bucket based on the position information of the positioning auxiliary device, and then performs loading operations on the transport vehicle using the regional position information of the bucket; the positioning auxiliary device may include a liftable blocking device, and when it detects that the transport vehicle enters the loading area, the liftable blocking device is controlled to be in a raised state to limit the movement range of the excavator's bucket to the effective loading area of ​​the transport vehicle. In this way, by determining the regional position information of the transport vehicle's bucket, accurate loading operations can be performed on the transport vehicle, which can greatly improve the efficiency of the loading operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Further details, features and advantages of the present disclosure are disclosed in the following description of exemplary embodiments in conjunction with the accompanying drawings, in which:

[0051] Figure 1 A schematic diagram of a scenario provided in the related art;

[0052] Figure 2 A schematic diagram of a scenario provided for an exemplary embodiment of the present disclosure;

[0053] Figure 3 Another scenario schematic diagram provided for an exemplary embodiment of the present disclosure;

[0054] Figure 4 A flowchart of loading of a mining operation provided for an exemplary embodiment of the present disclosure;

[0055] Figure 5 A schematic block diagram of functional modules of a loading device for mining operations provided by an exemplary embodiment of the present disclosure;

[0056] Figure 6 A structural block diagram of an electronic device provided as an exemplary embodiment of the present disclosure;

[0057] Figure 7 A structural block diagram of a computer system provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0058] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0059] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0060] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0061] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0062] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0063] During mining operations, the excavator's position constantly changes as it digs, and consequently, the loading bay's position. In related technologies, the excavator driver manually generates a loading bay and sends it to the waiting unmanned vehicles. After receiving the information from the excavator driver, the unmanned vehicle drives into and parks at the loading bay, waiting for the excavator to load the material. Once loading is complete, the vehicle departs.

[0064] The existing technology places high demands on the excavator driver, and each loading operation requires repeated operation, which is time-consuming and labor-intensive, and easily leads to long waiting times for unmanned vehicles. In addition, as the excavator continues to dig, the excavation section will constantly change, requiring the location of the loading area to be updated. This technology clearly cannot meet the actual needs.

[0065] Therefore, in order to reduce the waiting time of excavators and improve operational efficiency, Figure 1 As shown, the embodiment of the present disclosure deploys a dual-antenna satellite navigation device on the excavator 10 to obtain the position of the excavator. Figure 1The two sides of the middle loading area 20 are the extension direction of the loading area 20, and the lower side is the excavator mining section 30 (also called the mining step, with a height difference between the front and the back, the excavator 10 is on the step, and the unmanned vehicle is under the step). Both can be generated through high-precision map fitting calculations. The excavator mining section 30 is updated and moved backward in real time as the excavator 10 mines. The left and right widths in the loading area 20 depend on the position of the excavator 10. In addition, different types of excavators and unmanned vehicles correspond to different parameter values. After generation, the position can be manually adjusted and synchronized with the data update of the excavator mining section 30. The generated loading position position information and the position information of the waiting loading position are automatically and alternately sent to the unmanned vehicle. When the unmanned vehicle receives the information, it will drive into the loading position or the waiting loading position.

[0066] After the unmanned vehicle enters the loading area, the excavator 10 typically needs to use inertial navigation equipment installed in the excavator 10 and the transport vehicle to adjust the position or posture of the two vehicles during the loading process, so that the load in the excavator 10 bucket lands within the area of ​​the transport vehicle's bucket. However, since inertial navigation equipment generally has a certain positioning error, and this positioning error increases over time, resulting in long-term poor accuracy, it can lead to inaccurate positioning of the transport vehicle's bucket area, significantly affecting the efficiency of the loading operation. The unmanned vehicle in this embodiment can be an unmanned transport vehicle.

[0067] Therefore, in order to accurately locate the regional position of the bucket of the transport vehicle, the embodiment of the present disclosure may set a positioning auxiliary device on the bucket of the transport vehicle, so that the excavator can obtain its position information through the positioning auxiliary device during the loading process of the transport vehicle, and further determine the regional position information of the bucket of the transport vehicle. In this way, the excavator can accurately load the minerals into the bucket of the transport vehicle based on the regional position information of the bucket.

[0068] In the embodiment, Figure 2 As shown, the positioning auxiliary equipment may include a liftable blocking device 40, which may be specifically arranged on one side of the bucket of the transport vehicle. Exemplarily, the liftable blocking device 40 may be arranged in the middle position of one side of the bucket of the transport vehicle.

[0069] When a transport vehicle enters the loading area, the liftable blocking device 40 installed on the transport vehicle can automatically rise to a certain height. Specifically, the transport vehicle can control the liftable blocking device 40 to rise, i.e., change from a lowered state to a raised state, when entering the loading area. Alternatively, the transport vehicle controls the liftable blocking device 40 to rise upon receiving a command from the excavator, or the liftable blocking device 40 can be remotely controlled via the cloud. When the transport vehicle leaves the loading area, the liftable blocking device 40 on the transport vehicle will lower, i.e., change from a raised state to a lowered state.

[0070] When the excavator 10 is loading the transport vehicle, Figure 3 As shown, by rotating the shovel arm of the excavator 10, since the liftable blocking device 40 is provided on one side of the transport vehicle, the shovel arm of the excavator 10 can be rotated from the other side of the transport vehicle toward the bucket of the transport vehicle. The rotation process passes over the bucket until the shovel arm or bucket of the excavator 10 contacts the liftable blocking device 40. At this time, position information of the contact portion between the shovel arm or bucket of the excavator 10 and the liftable blocking device 40 can be obtained. The contact portion is the contact portion between the shovel arm or bucket and the liftable blocking device 40. The height of the liftable blocking device is greater than a preset height, while the height of the shovel arm or bucket is not greater than the preset height. In this way, the shovel arm or bucket can contact the liftable blocking device 40 during the rotation process. Of course, in the embodiment, since the transport vehicle is parked in the loading position and the excavator is parked in the corresponding position, the liftable blocking device is located within the contactable coverage of the shovel arm or bucket.

[0071] In the embodiment, the position information of the contact portion can be used as the position information of the liftable blocking device. Since the liftable blocking device is arranged on one side of the truck bucket, the boundary information of the side of the truck bucket can be obtained.

[0072] Because the transport vehicle's bucket has corresponding parameter information, namely, a certain length and width, the bucket's width is obtained and, based on this width and the position information of the liftable blocking device, the boundary information of the other side of the bucket is obtained. By obtaining both sides of the bucket's boundary information, the bucket's regional position information is determined, facilitating the excavator's loading operation on the transport vehicle. In this embodiment, the bucket's length can be further obtained, for example, by determining the bucket's length based on the proportional relationship between its width and length. Using the bucket's length and width to obtain more accurate bucket regional position information further facilitates the excavator's loading operation.

[0073] In the embodiment provided in the present disclosure, the liftable blocking device may further include a positioning sensor, which may be arranged in the central position of the truck bed, or in the optimal position in the truck bed when the excavator is loading, and the optimal position may be used as an anchor point. In this way, by obtaining the position information sent by the positioning sensor, the area within a preset range centered on the anchor point may be used as the loading area of ​​the excavator. The area within the preset range is included in the area of ​​the truck bed, which may guide the excavator to accurately perform loading operations on the transport vehicle, thereby greatly improving the loading efficiency.

[0074] It should be noted that the excavator and transport vehicle in the embodiment may both be unmanned vehicles, or the unmanned vehicles may be remotely controlled in combination with a remote control driving method.

[0075] In an embodiment provided herein, the positioning assistance device may further include distance sensors disposed at the four corners of the bucket. This allows the excavator's shovel arm to determine whether it is within the bucket's area by calculating the distance between the shovel arm or bucket and the four distance sensors in real time during movement. Loading operations can be performed when the bucket is within the bucket of the transport vehicle. For example, if the bucket is at a constant height and the distance between the bucket and the four sensors is less than a preset distance, the bucket is determined to be within the bucket's area and loading operations can be performed. Otherwise, the bucket needs to be moved, and loading operations can be performed when the bucket is determined to be within the bucket's area.

[0076] In the embodiment provided by the present disclosure, in order to avoid the phenomenon that the excavator always loads at a fixed position in the area of ​​the truck bed, resulting in excessive accumulation of minerals at a certain position of the truck bed and too little minerals loaded at other positions of the truck bed, after determining the regional position of the truck bed, the specific loading position of the excavator in the area of ​​the truck bed can be counted each time to try to achieve uniform loading of various positions of the truck bed.

[0077] For example, the truck bed area can be evenly divided into multiple sub-areas, for example, 12 sub-areas. By determining the center position of each sub-area, this center position is used as an anchor point during loading. This anchor point is used to indicate the landing point of the excavator bucket loaded with cargo, allowing the excavator to load these sub-areas. For example, the multiple sub-areas can be loaded sequentially to achieve uniform loading of the transport vehicle's truck bed, thereby improving loading efficiency.

[0078] In an embodiment, the minerals in the bucket of the transport vehicle can also be inspected. For example, the distribution of the minerals in the bucket can be periodically inspected, and the loading of the bucket with less minerals can be increased to achieve uniform loading of the minerals in the bucket. Specifically, in an embodiment, a gravity sensor can be installed in the bucket to detect the gravity conditions in each sub-area of ​​the bucket, thereby obtaining information on the distribution of the minerals in the bucket. The loading can be increased in sub-areas with less minerals, and reduced in areas with more minerals.

[0079] Based on the above embodiments, the present disclosure provides a loading method for mining operations. The method can be applied to the above excavator and can also be applied to a server, which can be a cloud device, etc. Figure 4 As shown, the method may include the following steps:

[0080] In step S410 , while the excavator is loading the transport vehicle, the position information of the positioning auxiliary device is obtained.

[0081] Wherein, the positioning auxiliary equipment is arranged at the boundary of the bucket of the transport vehicle.

[0082] In step S420, regional position information of the bucket of the transport vehicle is determined based on the position information of the positioning assistance device.

[0083] In step S430, the transport vehicle is loaded based on the regional position information of the vehicle bucket.

[0084] In step S440, upon detecting that a transport vehicle has entered the loading area, the liftable blocking device is controlled to be raised to limit the movement range of the excavator bucket to within the effective loading area of ​​the transport vehicle. The positioning aid device includes a liftable blocking device, and the liftable blocking device is raised to a height greater than a preset height.

[0085] In an embodiment, the positioning auxiliary equipment may include a liftable blocking device, which is used to block the shovel arm or bucket during rotation, and the position information of the positioning auxiliary equipment is determined based on the position information of the contact part between the liftable blocking device and the shovel arm or bucket. The excavator includes a shovel arm and a bucket.

[0086] In the embodiment, the liftable blocking device is arranged at the boundary of the vehicle bucket of the transport vehicle, such as Figure 3As shown, for example, a liftable blocking device is disposed on one side of the bucket. Upon detecting that a transport vehicle has entered the loading area, the liftable blocking device is controlled to be raised. Furthermore, because the height of the liftable blocking device is greater than a preset height, which may be the height of the excavator bucket or greater than the height of the excavator bucket, the excavator bucket is blocked from moving as the shovel arm moves. Specifically, upon detecting that the bucket has contacted the liftable blocking device, it indicates that the bucket has entered the transport vehicle's bucket area, enabling the excavator to load the transport vehicle.

[0087] For example, combined Figure 3 As shown, when the transport vehicle enters the loading position, the liftable blocking device is in the raised state, and the excavator 10 is in the Figure 3 During the loading process of the transport vehicle on the right side, since the liftable blocking device 40 is set at the left boundary of the bucket 60 of the transport vehicle, the bucket 50 of the excavator 10 moves from the right side to the left side of the bucket 60 of the transport vehicle. The bucket 50 will be blocked by the liftable blocking device 40 during the movement, that is, the liftable blocking device 40 will prevent the bucket 50 from further moving. At this time, the position information of the liftable blocking device 40 can be determined. At this time, the left boundary of the bucket 60 of the transport vehicle can be further determined through the position information of the liftable blocking device 40, and the right boundary of the bucket 60 of the transport vehicle can also be determined according to the width of the bucket 60. In this way, the boundaries of both sides of the bucket 60 can be determined, and the area between the determined left and right boundaries of the bucket 60 is used as the effective loading area of ​​the transport vehicle, that is, the moving range of the excavator's bucket 50 is limited to the effective loading area of ​​the transport vehicle, so that the excavator 10 can effectively load the transport vehicle. In the embodiment, the length of the bucket 60 can be further obtained to determine the front and rear boundaries of the bucket 60, and then the four boundaries of the bucket 60 can be determined, so as to more accurately determine the regional position information of the transport vehicle, realize the precise loading of the transport vehicle, and improve the loading efficiency of the excavator on the transport vehicle. Figure 3 The distance between the left and right boundaries of the bucket 60 is the width of the bucket 60, and the distance between the front and rear boundaries of the bucket 60 is the length of the bucket 60.

[0088] The presently disclosed embodiments provide a loading method for mining operations. During the excavator's loading process on a transport vehicle, the method obtains the location information of a positioning assistance device and, based on this information, determines the regional location information of the transport vehicle's bucket. The method then uses this information to load the transport vehicle. The positioning assistance device includes a liftable blocking device, which is controlled to be raised upon detecting that the transport vehicle has entered the loading area. This accurate determination of the transport vehicle's bucket's regional location information allows for significantly improved loading efficiency.

[0089] Based on the above embodiment, in another embodiment provided by the present disclosure, since the positioning assistance device may include a liftable blocking device, upon detecting that the transport vehicle enters the loading area, the liftable blocking device is controlled to be raised. The height to which the blocking device is raised is greater than a preset height. For details, please refer to the description of the above embodiment and will not be repeated here. Based on this, the liftable blocking device can be positioned on the target side of the truck bed, i.e., on one of the two sides of the truck bed. Step S410 may specifically include the following steps:

[0090] S411, rotating excavator shovel arm.

[0091] The shovel arm passes through at least a portion of the top of the bucket during the rotation process, and the height of the bucket connected to the shovel arm is not greater than a preset height.

[0092] In an embodiment, when the positioning aid is a liftable blocking device, the liftable blocking device is raised to a height greater than a preset height when in the raised position. To ensure that the excavator's bucket or arm can contact the liftable blocking device in the raised position during rotation of the excavator's shovel arm, the height of the excavator's bucket must not exceed the preset height.

[0093] In the embodiment, the shovel arm passes at least partially above the bucket during its rotation, which means that the shovel arm needs to pass above the bucket to facilitate determining the bucket's regional position information while also enabling loading operations. Otherwise, for example, if the liftable blocking device is located on the left side of the bucket, and the shovel arm moves toward the liftable blocking device from the outside of the left side of the bucket, then when the shovel arm or bucket contacts the liftable blocking device, the shovel arm will not pass above the bucket, and the bucket will not be able to enter the bucket area, thus preventing loading operations.

[0094] S412, when the excavator contacts the liftable blocking device, obtaining position information of the contact portion, and using the position information of the contact portion as position information of the positioning auxiliary device.

[0095] In the embodiment, the excavator contacts the liftable blocking device, which may be the excavator's shovel arm or bucket. The contact portion may be the contact area between the shovel arm or bucket and the liftable blocking device, or the shovel arm or bucket itself. For example, when the bucket contacts the liftable blocking device, the bucket serves as the contact portion, and when the shovel arm contacts the liftable blocking device, the shovel arm serves as the contact portion. Since the position of the bucket or shovel arm can be determined based on the position of the excavator, the arm length, and the rotational movement of the shovel arm, the position of the bucket or shovel arm can be easily determined, thereby obtaining position information of the positioning aid device.

[0096] Based on the above embodiment, after obtaining the position information of the positioning auxiliary device, the regional position information of the bucket of the transport vehicle can be determined, wherein the body direction of the transport vehicle is the same as the body direction of the excavator. The above step S420 may further include the following steps:

[0097] S421, obtaining parameter information of the truck bed, the parameter information including the width of the truck bed.

[0098] S422, determining the regional position information of the truck bed based on the parameter information and the position information of the positioning auxiliary device.

[0099] Because the transport vehicle's bucket has corresponding parameter information, namely, a certain length and width, the bucket's width is obtained and, based on this width and the position information of the liftable blocking device, the boundary information of the other side of the bucket is obtained. By obtaining both boundary information of the bucket, the bucket's regional position information is determined, facilitating the excavator's loading operation on the transport vehicle.

[0100] In addition, in an embodiment, the parameter information including the width of the truck bed may further include the length of the truck bed. For example, the length of the truck bed can be obtained based on the proportional relationship between the width and the length. More accurate regional position information of the truck bed can be obtained through the length and width of the truck bed, which is more conducive to the loading operation of the excavator.

[0101] Based on the above embodiment, in another embodiment provided by the present disclosure, the positioning auxiliary device may include a positioning sensor, and the above step S430 may specifically include the following steps:

[0102] S431 , determining a target loading position of the excavator based on the position information of the positioning sensor.

[0103] The target loading position is located in an area within a preset range centered at the position of the positioning sensor.

[0104] S432: Loading the transport vehicle at the target loading position.

[0105] The liftable blocking device may also include a positioning sensor, which may be set in the center of the truck bed, or at the optimal position in the truck bed when the excavator is loading, and the optimal position may be used as the target loading position. In this way, by obtaining the position information sent by the positioning sensor, the area within a preset range centered on the target loading position may be used as the loading area of ​​the excavator. The area within the preset range is included in the area of ​​the truck bed, which may guide the excavator to accurately perform loading operations on the transport vehicle, thereby greatly improving the loading efficiency.

[0106] In the embodiments disclosed herein, the positioning aid device includes distance sensors positioned at the four corners of the bucket. The positioning aid device's position information includes the position information corresponding to the distance sensors at the four corners of the bucket. As the excavator's shovel arm moves, the distances between the shovel arm or bucket and the four distance sensors are calculated in real time to determine whether the shovel arm or bucket is within the bucket's area. Loading operations can proceed when the bucket is within the transport vehicle's bucket. For details, please refer to the description of the aforementioned embodiments and will not be repeated here.

[0107] Based on the above embodiment, in another embodiment provided by the present disclosure, the above step S430 may further include the following steps:

[0108] S433: Divide the area of ​​the truck bucket into multiple sub-areas according to the area position information of the truck bucket.

[0109] S434, performing loading operations on multiple sub-areas respectively.

[0110] In this example, the truck bed area can be evenly divided into multiple sub-areas. By determining the center position of each sub-area, this center position is used as an anchor point during loading. This anchor point is used to indicate the landing point of the excavator bucket loaded with cargo, allowing the excavator to load these sub-areas. For example, the multiple sub-areas can be loaded sequentially to achieve uniform loading of the transport vehicle's truck bed, thereby improving loading efficiency.

[0111] Based on the above embodiment, in another embodiment provided by the present disclosure, the method may further include the following steps:

[0112] S450: When the distance moved by the excavator is greater than a preset distance, position update information is sent to the transport vehicle.

[0113] S460, when it is detected that the transport vehicle has completed the movement based on the position update information, the regional position information of the truck bucket is re-acquired, and the transport vehicle is loaded based on the re-acquired regional position information of the truck bucket.

[0114] In the embodiment, as the mining section continues to move backward, the position of the excavator must also move accordingly. If the distance the excavator moves is greater than the preset distance, that is, the excavator is too far away from the transport vehicle, it may not be able to complete the loading operation of the transport vehicle. It is necessary to send position update information to the transport vehicle so that the transport vehicle can also move backward accordingly.

[0115] In an embodiment, when sending location update information to the transport vehicle, the distance to be moved can be carried. In this way, the regional position information of the bucket after the move can be determined based on the moving distance of the transport vehicle and the regional position information of the bucket before the move, so that the excavator can load the transport vehicle based on the re-acquired regional position information of the bucket.

[0116] Of course, in order to avoid deviation of the transport vehicle during movement, in the embodiment, the regional position information of the truck bed can also be re-determined based on the above-mentioned positioning auxiliary equipment, which will not be repeated here.

[0117] In embodiments, as described in the above embodiments, in order to accurately load a transport vehicle with an excavator, merely obtaining the transport vehicle's position information is insufficient. Accurately determining the regional position of the transport vehicle's bucket is necessary to effectively load the vehicle. Therefore, the positioning assistance device in the embodiments is used to assist in determining the area of ​​the transport vehicle's bucket, that is, to obtain regional position information of the transport vehicle's bucket. In the embodiments, the regional position information of the transport vehicle's bucket can be determined using a liftable blocking device, or the liftable blocking device can be combined with other devices to determine the regional position information of the bucket. For example, the auxiliary positioning device can include a liftable blocking device, or the liftable blocking device can be combined with one or both of a positioning sensor and a distance measuring sensor. In the embodiments, the regional position information of the bucket can be determined using the liftable blocking device, or using the liftable blocking device and the positioning sensor, or using the liftable blocking device and the distance measuring sensor, or using the liftable blocking device, the positioning sensor, and the distance measuring sensor. Of course, the auxiliary positioning device can also include other positioning devices, and the embodiments of the present disclosure are not limited thereto.

[0118] In the case of dividing each functional module according to each function, an embodiment of the present disclosure provides a loading device for mining operations, which may be a server or a chip applied to a server. Figure 5 This is a schematic block diagram of the functional modules of a loading device for mining operations provided by an exemplary embodiment of the present disclosure. Figure 5 As shown, the loading equipment used in this mining operation includes:

[0119] The first position information acquisition module 11 is used to obtain the position information of the positioning auxiliary device during the process of the excavator loading the transport vehicle; wherein the positioning auxiliary device is set at the boundary of the vehicle bucket of the transport vehicle;

[0120] A second position information acquisition module 12 is configured to determine the regional position information of the bucket of the transport vehicle based on the position information of the positioning auxiliary device;

[0121] An operation module 13 is configured to perform a loading operation on the transport vehicle based on the regional position information of the vehicle bucket;

[0122] The control module 14 is used to control the liftable blocking device to be in a raised state when detecting that the transport vehicle enters the loading area, so as to limit the movement range of the excavator bucket to the effective loading area of ​​the transport vehicle; wherein, the positioning auxiliary equipment includes a liftable blocking device, and the height of the blocking device raised is greater than a preset height.

[0123] In another embodiment provided by the present disclosure, the liftable blocking device is provided on the target side of the bucket; the first position information acquisition module is specifically configured to:

[0124] Rotating the shovel arm of the excavator; wherein the shovel arm passes over at least a portion of the bucket during the rotation, and the height of the bucket connected to the shovel arm is not greater than the preset height;

[0125] When the excavator contacts the liftable blocking device, position information of the contact portion is acquired, and the position information of the contact portion is used as position information of the positioning auxiliary device.

[0126] In another embodiment provided by the present disclosure, the body direction of the transport vehicle is the same as the body direction of the excavator; the second position information acquisition module is further configured to:

[0127] Acquiring parameter information of the truck bucket, wherein the parameter information includes the width of the truck bucket;

[0128] Based on the parameter information and the position information of the positioning auxiliary device, regional position information of the vehicle bucket is determined.

[0129] In another embodiment provided by the present disclosure, the positioning auxiliary device includes a positioning sensor; the operation module is further configured to:

[0130] Determining a target loading position of the excavator based on the position information of the positioning sensor; wherein the target loading position is located in an area within a preset range centered on the position of the positioning sensor;

[0131] The transport vehicle is loaded at the target loading position.

[0132] In another embodiment provided by the present disclosure, the positioning assistance device includes distance measuring sensors respectively provided at the four corners of the vehicle bucket, and the position information of the positioning assistance device includes position information corresponding to the distance measuring sensors at the four corners of the vehicle bucket.

[0133] In another embodiment provided by the present disclosure, the operation module is further configured to:

[0134] Dividing the area of ​​the bucket into a plurality of sub-areas according to the area position information of the bucket;

[0135] The loading operations are performed on the multiple sub-areas respectively.

[0136] In another embodiment provided by the present disclosure, the loading device for mining operations further comprises:

[0137] An information sending module, configured to send location update information to the transport vehicle when the distance moved by the excavator is greater than a preset distance;

[0138] A processing module is used to re-acquire the regional position information of the bucket when detecting that the transport vehicle has completed the movement based on the position update information, and perform loading operations on the transport vehicle based on the re-acquired regional position information of the bucket.

[0139] An embodiment of the present disclosure further provides an electronic device, comprising: at least one processor; a memory for storing instructions executable by the at least one processor; wherein the at least one processor is configured to execute the instructions to implement the above method disclosed in the embodiment of the present disclosure.

[0140] Figure 6 This is a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present disclosure. Figure 6 As shown, the electronic device 1800 includes at least one processor 1801 and a memory 1802 coupled to the processor 1801. The processor 1801 can execute corresponding steps in the above method disclosed in the embodiment of the present disclosure.

[0141] The processor 1801 can also be referred to as a central processing unit (CPU), which can be an integrated circuit chip with signal processing capabilities. Each step in the method disclosed in the embodiments of the present disclosure can be completed by hardware integrated logic circuits in the processor 1801 or by software instructions. The processor 1801 can be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of the present disclosure can be directly implemented as being executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in the memory 1802, such as a storage medium mature in the art, such as a random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The processor 1801 reads the information in the memory 1802 and, in conjunction with its hardware, completes the steps of the method.

[0142] In addition, when various operations / processes according to the present disclosure are implemented by software and / or firmware, they can be transmitted from a storage medium or a network to a computer system having a dedicated hardware structure, such as Figure 7 The computer system 1900 shown is installed with the programs constituting the software. When the various programs are installed, the computer system can perform various functions, including the functions described above. Figure 7 A structural block diagram of a computer system provided by an exemplary embodiment of the present disclosure.

[0143] Computer system 1900 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are intended to be examples only and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0144] like Figure 7As shown, computer system 1900 includes a computing unit 1901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1902 or a computer program loaded from a storage unit 1908 into a random access memory (RAM) 1903. Various programs and data required for the operation of computer system 1900 may also be stored in RAM 1903. Computing unit 1901, ROM 1902, and RAM 1903 are connected to each other via a bus 1904. An input / output (I / O) interface 1905 is also connected to bus 1904.

[0145] Several components within computer system 1900 are connected to I / O interface 1905, including an input unit 1906, an output unit 1907, a storage unit 1908, and a communication unit 1909. Input unit 1906 can be any type of device capable of inputting information into computer system 1900. Input unit 1906 can receive input numeric or character information and generate key input signals related to user settings and / or function control of an electronic device. Output unit 1907 can be any type of device capable of presenting information and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. Storage unit 1908 may include, but is not limited to, a magnetic disk or an optical disk. Communication unit 1909 allows computer system 1900 to exchange information / data with other devices over a network, such as the Internet, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver and / or chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0146] The computing unit 1901 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1901 performs the various methods and processes described above. For example, in some embodiments, the above-mentioned methods disclosed in the embodiments of the present disclosure may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 1908. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 1900 via the ROM 1902 and / or the communication unit 1909. In some embodiments, the computing unit 1901 may be configured to perform the above-mentioned methods disclosed in the embodiments of the present disclosure by any other appropriate means (e.g., by means of firmware).

[0147] An embodiment of the present disclosure further provides a computer-readable storage medium, wherein, when instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the above method disclosed in the embodiment of the present disclosure.

[0148] The computer-readable storage medium in the embodiments of the present disclosure can be a tangible medium that can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. The above-mentioned computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above. More specifically, the above-mentioned computer-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0149] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0150] The embodiments of the present disclosure further provide a computer program product, including a computer program, wherein when the computer program is executed by a processor, the method disclosed in the embodiments of the present disclosure is implemented.

[0151] In embodiments of the present disclosure, computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or combinations thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer.

[0152] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0153] The modules, components, or units described in the embodiments of the present disclosure may be implemented in software or hardware. The names of the modules, components, or units do not necessarily limit the modules, components, or units themselves.

[0154] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, and without limitation, exemplary hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0155] The above descriptions are merely some embodiments of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in the present disclosure.

[0156] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art will appreciate that the above examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Those skilled in the art will appreciate that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A loading method for mining operations, characterized in that: The method comprises: During the process of loading the transport vehicle with the excavator, position information of the positioning auxiliary device is obtained; wherein the positioning auxiliary device is set at the boundary of the bucket of the transport vehicle; Determining regional position information of the bucket of the transport vehicle based on the position information of the positioning auxiliary device; Performing loading operation on the transport vehicle based on the regional position information of the vehicle bucket; When it is detected that the transport vehicle enters the loading area, the liftable blocking device is controlled to change from a lowered state to a raised state to limit the movement range of the excavator bucket within the effective loading area of ​​the transport vehicle; the liftable blocking device is used to prevent further movement of the bucket; wherein, the positioning auxiliary equipment includes a liftable blocking device, and the height to which the liftable blocking device is raised is greater than a preset height.

2. The method according to claim 1, characterized in that The liftable blocking device is arranged on the target side of the bucket; the position information of the positioning auxiliary device is obtained, including: Rotating the shovel arm of the excavator; wherein the shovel arm passes over at least a portion of the bucket during the rotation, and the height of the bucket connected to the shovel arm is not greater than the preset height; When the excavator contacts the liftable blocking device, position information of the contact portion is acquired, and the position information of the contact portion is used as position information of the positioning auxiliary device.

3. The method according to claim 2, characterized in that The direction of the transport vehicle body is the same as the direction of the excavator body; and determining the regional position information of the bucket of the transport vehicle based on the position information of the positioning auxiliary device includes: Acquiring parameter information of the truck bucket, wherein the parameter information includes the width of the truck bucket; Based on the parameter information and the position information of the positioning auxiliary device, regional position information of the vehicle bucket is determined.

4. The method according to claim 1, wherein The positioning auxiliary equipment includes a positioning sensor; the loading operation of the transport vehicle based on the regional position information of the bucket includes: Determining a target loading position of the excavator based on the position information of the positioning sensor; wherein the target loading position is located in an area within a preset range centered on the position of the positioning sensor; The transport vehicle is loaded at the target loading position.

5. The method according to claim 1, wherein The positioning auxiliary device includes distance measuring sensors respectively arranged at the four corners of the vehicle bucket, and the position information of the positioning auxiliary device includes position information corresponding to the distance measuring sensors at the four corners of the vehicle bucket.

6. The method according to claim 1, characterized in that The loading operation on the transport vehicle based on the regional position information of the vehicle bucket includes: Dividing the area of ​​the bucket into a plurality of sub-areas according to the area position information of the bucket; The loading operations are performed on the multiple sub-areas respectively.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: When the distance moved by the excavator is greater than a preset distance, sending position update information to the transport vehicle; When it is detected that the transport vehicle has completed moving based on the position update information, the regional position information of the bucket is reacquired, and the transport vehicle is loaded based on the reacquired regional position information of the bucket.

8. A loading device for mining operations, characterized in that: The device comprises: A first position information acquisition module is used to acquire position information of a positioning auxiliary device during the process of the excavator loading the transport vehicle; wherein the positioning auxiliary device is set at the boundary of the bucket of the transport vehicle; A second position information acquisition module is used to determine the regional position information of the bucket of the transport vehicle based on the position information of the positioning auxiliary device; An operation module, configured to perform loading operations on the transport vehicle based on the regional position information of the vehicle bucket; A control module is configured to control a liftable blocking device to change from a lowered state to a raised state upon detecting that the transport vehicle enters the loading area, so as to limit the movement range of the excavator bucket to the effective loading area of ​​the transport vehicle; the liftable blocking device is configured to prevent further movement of the bucket; wherein the positioning auxiliary equipment includes a liftable blocking device, and the height to which the liftable blocking device is raised is greater than a preset height.

9. An electronic device, characterized in that: include: at least one processor; a memory for storing the at least one processor-executable instruction; The at least one processor is configured to execute the instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method according to any one of claims 1 to 7.

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