Waste loading and unloading methods

Abstract

This invention provides a waste slag loading and transportation method, which includes a waste slag grabbing stage and a transfer stage. The transfer stage involves setting the vehicle's movement mode to multi-segment speed control, with Δs at s1, s2, s3, and s4, where s1 ≤ s2 ≤ s3 ≤ s4. When Δs ≤ s1, the vehicle's acceleration is controlled to a = α. min The train continues running until it reaches the current speed V, then shifts to the target speed VS. When Δs ≥ s1, and the current speed is V, the target speed is VS. After running time t2, the train's acceleration a = 0, and it maintains the current speed for running time t3. After time t3, the train's acceleration a = amax is shifted again until after time t2, and V = VS, at which point the train's acceleration a = 0, where t2 = (1 - κ) × ΔV / (g × tanθ). The train continues running, continuously adjusting the target speed VS according to the target distance Δs, repeating the above process until Δs = 0, at which point the train stops. This invention has advantages such as reducing sway amplitude.

Description

Technical Field

[0001] This invention relates to waste residue treatment, and particularly to a method for transporting waste residue. Background Technology

[0002] In the metallurgical industry, a large amount of waste slag is generated and needs to be removed promptly. The equipment used for handling large quantities of waste slag typically involves overhead crane operators using grab buckets to scoop it up and load it onto vehicles. The following problems exist during the overhead crane transfer process:

[0003] 1. The overhead grab bucket is connected by steel cables, and the grab bucket swings quite violently in the X and Y directions during operation.

[0004] 2. The longer the grab bucket cable, the greater the swing amplitude, and the more likely a collision will occur.

[0005] 3. Excessive swing of the grab bucket can cause overshoot and inaccurate positioning.

[0006] During the process of grabbing waste slag, the lifting and closing cables on the pulleys are prone to the following problems:

[0007] 1. Using too much steel cable can easily lead to rope skipping.

[0008] 2. After jumping rope, the steel cable is easily stuck between the pulleys, and long-term operation will cause the steel cable to wear out and become stuck.

[0009] 3. The lengths of the lifting and opening / closing cables change after the rope is jumped, resulting in incorrect opening and closing angles.

[0010] Furthermore, the presence of water mist at the slag loading site caused numerous problems, such as:

[0011] 1. Operators cannot clearly see the slag pit and cannot determine whether the grab bucket has touched the bottom, often resulting in empty grabs;

[0012] 2. The operator tried to fill the grab bucket to the brim, causing the grab bucket to bottom out too heavily, which caused the opening and closing steel cable to detach.

[0013] 3. The inability to accurately control the amount of slag grabbed per bucket results in uneven slag loading on the vehicle;

[0014] 4. The driver cannot accurately park the vehicle in the designated position, and the operator cannot see the position of the slag loading vehicle, so the waste slag cannot be loaded and transported accurately; in addition, different types of vehicles have different lengths and heights of cargo compartments.

[0015] With the advancement of automation transformation in the metallurgical industry, unmanned slag loading is being used more and more, which not only reduces labor costs but also prevents safety accidents involving personal injury. However, accurate and controllable slag grabbing and the identification of the slag loading vehicle's location remain challenges. Summary of the Invention

[0016] To address the shortcomings of the existing technical solutions, the present invention provides a method for transporting waste residue.

[0017] The objective of this invention is achieved through the following technical solution:

[0018] A waste slag loading and transportation method, comprising a waste slag grabbing stage and a transfer stage; the transfer stage is as follows:

[0019] The driving motion mode is set as multi-segment speed control, with Δs at s1, s2, s3, and s4 respectively, and s1≤s2≤s3≤s4; the maximum target speeds within the distance are VS1, VS2, VS3, and VS4 respectively, and VS1≤VS2≤VS3≤VS4, with the distance between each segment being greater than the acceleration distance;

[0020] When Δs≤s1, the vehicle acceleration is controlled by a=ɑ min , and a min =μ×a max =μ×g×tanθ=, until the current speed V, change speed to the target speed VS;

[0021] When Δs ≥ s1, and the velocity at this time is V, the selected target velocity is VS; at this time, the vehicle acceleration is controlled by a = α. max , where α max = g × tanθ;

[0022] After running time t2, control the vehicle acceleration a = 0 and maintain the current speed for running time t3; where t1 = κ × ΔV / (g × tanθ),

[0023] When time t3 is reached, the vehicle acceleration a = amax is controlled again to change speed until time t2, and V = VS, then the vehicle acceleration a = 0, where t2 = (1-κ)×ΔV / (g×tanθ);

[0024] The train continues to run, and the target speed VS is continuously adjusted according to the target distance Δs. The above process is repeated until Δs = 0, at which point the train stops.

[0025] The first platform drives the grab bucket to move along the first direction, the second platform drives the grab bucket to move along the second direction, and the lifting motor and the opening / closing motor control the grab bucket to move along the third direction; the grab bucket's center position swing length is L, the maximum allowable swing angle is θ, and the grab bucket's maximum swing amplitude is L. s =L×sinθ, θ=arcsin(L) S / L); Maximum permissible acceleration α of the first and second platforms max =g×tanθ, minimum acceleration α min, Acceleration scaling factor μ, Current vehicle speed V, Target vehicle speed VS, Absolute speed difference ΔV, Acceleration time t1, Acceleration time t2, Equilibrium time t3, Target distance Δs.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] 1. Good job stability;

[0028] This effectively prevents excessive swaying of the steel cable and improves work safety.

[0029] By using rollers, the lifting steel cable and the opening and closing steel cable are clamped between the grooves of the pulley and the grooves of the roller, which effectively prevents the steel cable from jumping and ensures the stability of the unmanned slag grabbing operation.

[0030] 2. Accurate slag removal;

[0031] Accurately control the lifting and opening / closing actions of the grab bucket, and adjust the speed and step size according to the required amount of slag to achieve unmanned intelligent slag grabbing.

[0032] 3. Accurate identification;

[0033] By utilizing point cloud data preprocessing, point cloud density value comparison, and the application of ranging sensors, the position of the carriage can be accurately obtained, eliminating adverse factors such as improper vehicle parking and water mist effects, thus laying the foundation for accurate slag loading of unmanned vehicles.

[0034] 4. Fast recognition;

[0035] Software algorithms are used to quickly measure, compare, and analyze, thereby rapidly obtaining the accurate location of the carriage. Detailed Implementation

[0036] The following description illustrates optional embodiments of the invention to teach those skilled in the art how to implement and reproduce the invention. To explain the technical solutions of the invention, some conventional aspects have been simplified or omitted. Those skilled in the art should understand that variations or substitutions derived from these embodiments will be within the scope of the invention. Those skilled in the art should understand that the following features can be combined in various ways to form multiple variations of the invention. Therefore, the invention is not limited to the following optional embodiments, but is defined only by the claims and their equivalents.

[0037] Example 1:

[0038] The waste slag loading and transportation method of this invention includes a waste slag grabbing stage and a waste slag transfer stage;

[0039] The waste transfer stage is as follows:

[0040] The driving motion mode is set as multi-segment speed control, with Δs at s1, s2, s3, and s4 respectively, and s1≤s2≤s3≤s4; the maximum target speeds within the distance are VS1, VS2, VS3, and VS4 respectively, and VS1≤VS2≤VS3≤VS4, with the distance between each segment being greater than the acceleration distance;

[0041] When Δs≤s1, the vehicle acceleration is controlled by a=ɑ min , and a min =μ×a max =μ×g×tanθ=, until the current speed V, change speed to the target speed VS;

[0042] When Δs ≥ s1, and the velocity at this time is V, the selected target velocity is VS; at this time, the vehicle acceleration is controlled by a = α. max , where α max = g × tanθ;

[0043] After running time t2, control the vehicle acceleration a = 0 and maintain the current speed for running time t3; where t1 = κ × ΔV / (g × tanθ),

[0044] When time t3 is reached, the vehicle acceleration a = amax is controlled again to change speed until time t2, and V = VS, then the vehicle acceleration a = 0, where t2 = (1-κ)×ΔV / (g×tanθ);

[0045] The train continues to run, and the target speed VS is continuously adjusted according to the target distance Δs. The above process is repeated until Δs = 0, at which point the train stops.

[0046] The first platform drives the grab bucket to move along the first direction, the second platform drives the grab bucket to move along the second direction, and the lifting motor and the opening / closing motor control the grab bucket to move along the third direction; the grab bucket's center position swing length is L, the maximum allowable swing angle is θ, and the grab bucket's maximum swing amplitude is L. s =L×sinθ, θ=arcsin(L) S / L); Maximum permissible acceleration α of the first and second platforms max =g×tanθ, minimum acceleration α min Acceleration scaling factor μ, current vehicle speed V, target vehicle speed VS, absolute speed difference ΔV, acceleration time t1, acceleration time t2, equilibrium time t3, target distance Δs;

[0047] The waste residue grabbing stage is as follows:

[0048] The hoisting motor and the opening / closing motor operate synchronously, the grab bucket remains open and descends, and the hoisting cable and the opening / closing cable descend by the same amount.

[0049] When the output value of the weight sensor on the lower side of the lifting motor and / or the opening and closing motor is less than the first set value, or the torque of the lifting motor is less than the second set value, it indicates that the grab bucket has touched the bottom. The lifting cable continues to descend at speed V1, the opening and closing cable rises at speed V2, and the grab bucket grabs waste slag during descent, thereby grabbing more waste slag.

[0050] When the difference between the descent amount of the lifting cable and the descent amount of the opening and closing cable reaches the threshold ΔL, the lifting cable and the opening and closing cable rise synchronously until the stop position.

[0051] During the waste slag grabbing stage, the lifting steel cable and the opening and closing steel cable move up and down relative to the pulleys;

[0052] The lifting steel cable and the opening and closing steel cable are respectively clamped between the pulley and the roller. The roller is mounted on the roller bracket, and the roller bracket is mounted on the guide member. The fixing member for supporting multiple guide members is mounted on the pulley bracket. The spring is mounted on the guide member and is located between the roller bracket and the fixing member.

[0053] To accurately control the weight of waste gripped by the grab bucket, further, the threshold... G1 is the full weight of the grab bucket, G2 is the preset grab weight, and L s λ is the displacement when the grab bucket is fully closed, and λ is the compensation coefficient.

[0054] To control the grabbing action, V1 = μ·V2, where μ is a coefficient.

[0055] To provide timely feedback on the grab's operation and guide the next grab, a new compensation coefficient is further obtained during the synchronous ascent of the lifting cable and the opening / closing cable, or when the grab is at the stop position. And replace the originally saved λ, where G1 is the actual weight of the waste residue grabbed.

[0056] To accurately identify slag loading vehicles and achieve accurate slag loading, the waste slag transportation method further includes a slag loading vehicle identification stage, which is as follows:

[0057] A 3D scanner obtains point cloud data S of the area within the vehicle parking area, where water mist is diffused.

[0058] The point cloud data is preprocessed to obtain point cloud data S′ of the first designated area after defogging. The first designated area completely includes the normal parking area, which covers the vehicle in the front-to-back and up-to-down directions. When the driver parks, the vehicle is completely within the normal parking area.

[0059] Based on the preprocessed point cloud data S′, the point cloud density values ​​ρ1 and ρ2 of the second designated area and the third designated area are obtained respectively. The second designated area is located above and slightly behind the normal parking area, and the third designated area is located above and slightly in front of the normal parking area, so that the lower side of the second designated area and the third designated area is the carriage.

[0060] Compare the point cloud density values ​​ρ1, ρ2 and the threshold ρ;

[0061] The location of the slag-loading vehicle compartment within the vehicle parking area was determined based on the comparison results.

[0062] To accurately determine the location of the loading car compartment using point cloud density values ​​and thresholds, the location of the loading car compartment is obtained as follows:

[0063] If ρ1≤ρ and ρ2≤ρ, obtain the coordinates of the head and tail of the carriage based on the point cloud data S′;

[0064] If ρ1≤ρ and ρ2>ρ, obtain the coordinates of the rear of the carriage based on the point cloud data S′, and obtain the coordinates of the front of the carriage based on the coordinates of the rear of the carriage and the length L of the carriage.

[0065] If ρ1>ρ and ρ2≤ρ, obtain the coordinates of the head of the carriage based on the point cloud data S′, and obtain the coordinates of the tail of the carriage based on the coordinates of the head of the carriage and the length L of the carriage.

[0066] If ρ1>ρ and ρ2>ρ, the point cloud data S′ is invalid.

[0067] To handle extreme cases, further, if ρ1 > ρ and ρ2 > ρ, the data X from the rear of the vehicle is obtained using a distance sensor. i , i = 1, 2, ..., N;

[0068] If data X i Condition met: Data X i Within the set range, and data X i If the fluctuation is not greater than the set value, the coordinates of the rear of the carriage will be output, and the coordinates of the front of the carriage will be obtained using the length of the carriage.

[0069] If data X i If the conditions are not met, the identification will fail and a prompt will be issued.

[0070] To accurately determine the position of the rear of the carriage, the method for judging the fluctuation is further as follows:

[0071] judge Is it not greater than the set value μ?

[0072] To obtain the position of the carriage more scientifically, further, if ρ1≤ρ and ρ2≤ρ, the length L′ of the carriage is calculated based on the coordinates of the head and tail of the carriage.

[0073] The deviation between the length L′ and the length L of the carriage is obtained;

[0074] If the deviation is not greater than the set value, then output the coordinates of the head and tail of the carriage;

[0075] If the deviation is greater than the set value, output the coordinates of the rear of the carriage and calculate the coordinates of the front of the carriage based on the carriage length L.

[0076] To eliminate the effects of water mist, the pretreatment method is further as follows:

[0077] The normal vector of each point cloud is obtained through the PCL calculation library, and the angle between the normal vector of any point cloud and each axis in the three-dimensional coordinate system is obtained.

[0078] Determine whether the included angle is within the set range;

[0079] If the point cloud data is retained within the specified range;

[0080] If the data is not within the specified range, delete the point cloud data.

[0081] Delete point cloud data that is not in the first specified region.

[0082] To accurately obtain the carriage length, the parking driver further inputs the vehicle type or carriage length, where the vehicle type corresponds to the carriage length.

[0083] Example 2:

[0084] An application example of the waste slag transportation method according to Embodiment 1 of the present invention in the transportation of blast furnace waste slag in steel enterprises.

[0085] In this application example, the waste loading and unloading method includes a waste loading vehicle identification stage, a waste grabbing stage, and a waste transfer stage. The waste grabbing stage is as follows:

[0086] The hoisting motor and the opening / closing motor operate synchronously, the grab bucket remains open and descends, and the hoisting cable and the opening / closing cable descend by the same amount.

[0087] In real time, determine whether the output value of the weight sensor on the lower side of the lifting motor and / or the opening and closing motor is less than the first set value, or whether the torque of the lifting motor is less than the second set value;

[0088] If the output value of the weight sensor is not less than the first set value, or the torque of the lifting motor is not greater than the second set value, the grab bucket continues to descend;

[0089] If the output value of the weight sensor on the lower side of the lifting motor and / or the opening and closing motor is less than the first set value, or the torque of the lifting motor is less than the second set value, it means that the grab bucket has touched the bottom. The lifting cable continues to descend at a speed of V1, and the opening and closing cable rises at a speed of V2. V1 = μ·V2, where μ is a coefficient. The grab bucket grabs waste slag during descent, thereby grabbing more waste slag.

[0090] Determine whether the difference ΔL between the real-time descent of the lifting cable and the real-time descent of the opening / closing cable reaches a threshold. G1 is the full weight of the grab bucket, G2 is the preset grab weight, and L s It represents the displacement when the grab bucket is fully closed, and λ is the stored compensation coefficient.

[0091] If ΔL does not reach the threshold, the lifting cable continues to descend, and the opening / closing cable continues to rise.

[0092] If ΔL reaches the threshold, the lifting cable and the opening / closing cable rise synchronously until the stop position;

[0093] Obtain the new compensation coefficient And replace the original λ, where G is the actual weight of the waste slag grabbed;

[0094] During the waste slag grabbing stage, the lifting steel cable and the opening and closing steel cable move up and down relative to the pulleys;

[0095] The lifting cable and the opening / closing cable are respectively clamped between the pulley and the roller. The roller is mounted on a roller bracket, which is mounted on a guide member. A fixing member for supporting multiple guide members is mounted on the pulley bracket. A spring is mounted on the guide member and is located between the roller bracket and the fixing member, providing elasticity to the roller bracket. This allows the cable to be clamped in the grooves of the pulley and the roller, preventing the cable from jumping. During the up-and-down movement of the cable, the pulley and the roller cause the cable to roll.

[0096] The waste transfer stage is as follows:

[0097] The driving motion mode is set as multi-segment speed control, with Δs at s1, s2, s3, and s4 respectively, and s1≤s2≤s3≤s4; the maximum target speeds within the distance are VS1, VS2, VS3, and VS4 respectively, and VS1≤VS2≤VS3≤VS4, with the distance between each segment being greater than the acceleration distance;

[0098] When Δs≤s1, the vehicle acceleration is controlled by a=ɑ min , and a min =μ×a max =μ×g×tanθ=, until the current speed V, change speed to the target speed VS;

[0099] When Δs ≥ s1, and the velocity at this time is V, the selected target velocity is VS; at this time, the vehicle acceleration is controlled by a = α. max , where α max = g × tanθ;

[0100] After running time t2, control the vehicle acceleration a = 0 and maintain the current speed for running time t3; where t1 = κ × ΔV / (g × tanθ),

[0101] When time t3 is reached, the vehicle acceleration a = amax is controlled again to change speed until time t2, and V = VS, then the vehicle acceleration a = 0, where t2 = (1-κ)×ΔV / (g×tanθ);

[0102] The train continues to run, and the target speed VS is continuously adjusted according to the target distance Δs. The above process is repeated until Δs = 0, at which point the train stops.

[0103] The first platform drives the grab bucket to move along the first direction, the second platform drives the grab bucket to move along the second direction, and the lifting motor and the opening / closing motor control the grab bucket to move along the third direction; the grab bucket's center position swing length is L, the maximum allowable swing angle is θ, and the grab bucket's maximum swing amplitude is L. s =L×sinθ, θ=arcsin(L) S / L); Maximum permissible acceleration α of the first and second platforms max =g×tanθ, minimum acceleration α min Acceleration scaling factor μ, current vehicle speed V, target vehicle speed VS, absolute speed difference ΔV, acceleration time t1, acceleration time t2, equilibrium time t3, target distance Δs;

[0104] The slag loading vehicle identification stage is as follows:

[0105] The driver parks the dump truck in the parking area and enters the length of the cargo box L (or enters the vehicle type, which corresponds to the length of the cargo box L and the height).

[0106] A 3D scanner obtains point cloud data S of the area within the vehicle parking area, where water mist is intermittently diffused, such as at the rear of the vehicle.

[0107] The point cloud data S is preprocessed, and useless data is deleted to obtain point cloud data of a first specified area (the length and height must conform to the vehicle type). The first specified area completely includes the normal parking area, which covers the vehicle in the front-rear direction and the up-down direction. When the driver parks, the vehicle is completely in the normal parking area.

[0108] The point cloud data of the first specified region is dehazed to obtain point cloud data S′. The dehazing method is as follows: the normal vector of each point cloud is obtained through the PCL calculation library, and the angle between the normal vector of any point cloud and each axis in the three-dimensional coordinate system is determined; it is determined whether the angle is within the set range of ±5 degrees.

[0109] If the point cloud data is retained within the specified range;

[0110] If the data is not within the specified range, delete the point cloud data.

[0111] Based on the preprocessed point cloud data S′, the point cloud density values ​​ρ1 and ρ2 of the second designated area and the third designated area are obtained respectively. The second designated area is located above and slightly behind the normal parking area, and the third designated area is located above and slightly in front of the normal parking area, so that the lower side of the second designated area and the third designated area is the carriage. The setting of the second designated area and the third designated area corresponds to the vehicle type (carriage length and height).

[0112] Compare point cloud density values ​​ρ1, ρ2 and the threshold ρ = 100 / m 3 ;

[0113] Based on the comparison results, the locations of the dump truck beds within the vehicle parking area are as follows:

[0114] If ρ1≤ρ and ρ2≤ρ, obtain the coordinates of the head and tail of the carriage based on the point cloud data S′, and calculate the length L′ of the carriage.

[0115] The deviation between the length L′ and the length L of the carriage is obtained;

[0116] If the deviation is not greater than the set value of 0.2m, then output the coordinates of the head and tail of the carriage;

[0117] If the deviation is greater than the set value, output the coordinates of the rear of the carriage and calculate the coordinates of the front of the carriage based on the carriage length L;

[0118] If ρ1≤ρ and ρ2>ρ, obtain the coordinates of the rear of the carriage based on the point cloud data S′, and obtain the coordinates of the front of the carriage based on the coordinates of the rear of the carriage and the length L of the carriage.

[0119] If ρ1>ρ and ρ2≤ρ, obtain the coordinates of the head of the carriage based on the point cloud data S′, and obtain the coordinates of the tail of the carriage based on the coordinates of the head of the carriage and the length L of the carriage.

[0120] If ρ1 > ρ and ρ2 > ρ, the point cloud data S′ is invalid. In this case, the data X from the rear of the vehicle is obtained using the distance sensor. i , i = 1, 2, ..., N;

[0121] If data Xi Condition met: Data X i Within the set range, and data X i fluctuation If the value is not greater than the set value μ = 5%, then the coordinates of the rear of the carriage will be output, and the coordinates of the front of the carriage will be obtained using the length of the carriage.

[0122] If data X i If the conditions are not met, the identification will fail and a prompt will be issued.

Claims

1. A method of shipping waste residues, the method of shipping waste residues comprising a grabbing waste residues phase and a transferring phase; characterized in that, The transfer stage is: The driving motion mode is set to multi-section speed control, and the distances are s1, s2, s3 and s4, and s1≤s2≤s3≤s4; the maximum target speeds corresponding to the distances are VS1, VS2, VS3 and VS4, and VS1≤VS2≤VS3≤VS4, and the distance length between each section is greater than the acceleration distance; When Δs ≤ s1, the control vehicle acceleration a = α at this time min , and α min = μ × α max = μ × g × tan θ, until the current speed V, shift to the target speed VS; When Δs≥s1, and the speed is V, the selected target speed is VS; at this time, the control driving acceleration a=α max where α max =g×tanθ; After running time t1, the driving acceleration a is controlled to be 0, and the current speed is maintained for running time t3; wherein t1=k×ΔV / (g×tanθ); When time t3 arrives, the vehicle acceleration a = a is controlled again max Variable speed operation The vehicle runs until time t2 arrives, and V = VS, the vehicle acceleration a = 0 is controlled, wherein t2 = (1 - k) x AV / (g x tan θ). The driving continues to run, the target speed VS is continuously corrected according to the target distance Δs, and the above process is repeatedly cycled until Δs=0, and the driving stops running; The first platform drives the grab bucket to move in the first direction, the second platform drives the grab bucket to move in the second direction, the lifting motor and the opening and closing motor control the grab bucket to move in the third direction; the swing length of the center position of the grab bucket is L, the maximum allowable swing angle is θ, the maximum swing amplitude of the grab bucket is L s =L×sinθ, θ=arcsin(L s / L); the maximum allowable movement acceleration of the first platform and the second platform is α max =g×tanθ, the minimum movement acceleration is α min , the acceleration scaling factor is μ, the current movement speed of the travelling crane is V, the target speed of the travelling crane is VS, the absolute speed difference is ΔV, the acceleration time is t1, the acceleration time is t2, the balance time is t3, and the target distance is Δs.

2. The waste residue shipping method according to claim 1, wherein In the grabbing waste residue stage, the lifting steel cable and the opening and closing steel cable move up and down relative to the pulley; the lifting steel cable and the opening and closing steel cable are clamped between the pulley and the roller, the roller is arranged on the roller support, the roller support is arranged on the guide piece, the fixed piece for bearing a plurality of guide pieces is arranged on the pulley support; the spring is arranged on the guide piece and between the roller support and the fixed piece.

3. The waste residue shipping method according to claim 2, wherein The roller has a ring-shaped groove, and the lifting steel cable and the opening and closing steel cable are respectively arranged in the groove of the roller.

4. The waste residue shipping method according to claim 1, wherein The waste residue loading method further comprises an identification stage of the waste residue loading vehicle, and the identification stage of the waste residue loading vehicle is: The three-dimensional scanner obtains point cloud data S of the area in the vehicle parking area, and the water mist diffuses in the vehicle parking area; The point cloud data is preprocessed to obtain the point cloud data S' of the first specified area after defogging, and the first specified area contains the normal parking area; According to the preprocessed point cloud data S', the point cloud density values ρ1 and ρ2 of the second specified area and the third specified area are obtained respectively, the second specified area is the area deviated to the upper side of the normal parking area, and the third specified area is the area deviated to the lower side of the normal parking area; The point cloud density values ρ1 and ρ2 are compared with the threshold value ρ; According to the comparison result, the position of the waste residue loading vehicle compartment in the vehicle parking area is obtained.

5. The waste residue shipping method according to claim 4, wherein The way to obtain the position of the waste residue loading vehicle is: If ρ1≤ρ and ρ2≤ρ, the coordinates of the head and tail of the vehicle compartment are obtained according to the point cloud data S'; If ρ1≤ρ and ρ2>ρ, the coordinates of the tail of the vehicle compartment are obtained according to the point cloud data S', and the coordinates of the head of the vehicle compartment are obtained according to the coordinates of the tail of the vehicle compartment and the length L1 of the vehicle compartment; If ρ1>ρ and ρ2≤ρ, the coordinates of the head of the vehicle compartment are obtained according to the point cloud data S', and the coordinates of the tail of the vehicle compartment are obtained according to the coordinates of the head of the vehicle compartment and the length L1 of the vehicle compartment; If ρ1>ρ and ρ2>ρ, the point cloud data S' is invalid.

6. The waste residue shipping method according to claim 5, wherein If ρ1>ρ, ρ2>ρ, the data X of the car tail is obtained by the distance sensor i , i = 1, 2, ···N; If data X i satisfies the condition: data X i is within a set range, and data X i fluctuates no more than a set value, the coordinates of the rear of the car are output, and the coordinates of the front of the car are obtained using the length of the car. If the data X i If the condition is not met, the recognition fails and a prompt is issued.

7. The waste residue shipping method according to claim 6, wherein The judgment method of the fluctuation is: determining whether or not not greater than a set value μ1, .

8. The waste residue shipping method according to claim 5, wherein If ρ1≤ρ and ρ2≤ρ, the length L' of the vehicle compartment is calculated according to the obtained coordinates of the head and tail of the vehicle compartment; The deviation of the length L' of the vehicle compartment and the length L1 of the vehicle compartment is obtained; If the deviation is not greater than the set value, the coordinates of the head and tail of the vehicle compartment are output; If the deviation is greater than the set value, the coordinates of the tail of the vehicle compartment are output, and the coordinates of the head of the vehicle compartment are calculated according to the length L1 of the vehicle compartment.

9. The waste residue shipping method according to claim 4, wherein The preprocessing method is: Obtaining the normal vector of each point cloud through the PCL library, so that the angle between the normal vector of any point cloud and each axis in the three-dimensional coordinate system is obtained respectively; Judging whether the angle is in a set range or not; If the angle is in the set range, the point cloud data is reserved; If the angle is not in the set range, the point cloud data is deleted; Deleting the point cloud data in the non-first specified area.

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