Bucket wheel rehandling machine path planning method, device and storage medium

Abstract

The application discloses a kind of bucket wheel rehandling path planning method, equipment and storage medium, the method includes determining work pile;Obtain the first point cloud data of work pile, and the second point cloud data of the pile between work pile and current pile;First point cloud data and second point cloud data are converted into point under world coordinate system, obtain first point set;From first point set, extract all points with Z coordinate greater than cantilever end height, obtain second point set;Second point set is flattened with overhead angle, obtain pile contour curve;Find all convex points close to bucket wheel rehandling track from pile contour curve, and all convex points are stored in queue;With the position of cantilever end in world coordinate system as starting point, determine end point according to starting point and convex point in queue, determine each transfer path according to starting point and end point.The application can realize the autonomous planning of rehandling path, improve field adaptability.

Description

Technical Field

[0001] This invention belongs to the field of path planning technology, and in particular relates to a method, equipment and storage medium for path planning of a bucket wheel reclaimer for changing storage based on a depth camera. Background Technology

[0002] In steelmaking enterprises and thermal power plants, coal is frequently used as a raw material, and bucket wheel reclaimers are commonly used for material reclaiming. Bucket wheel reclaimers are generally cantilevered types, which mainly consist of a bucket wheel mechanism, a pitching mechanism, a slewing mechanism, a moving mechanism, and a conveying mechanism. Currently, most coal yards use either manually operated or automated bucket wheel reclaimers. Manual operation of bucket wheel reclaimers is time-consuming, labor-intensive, inefficient, and exposes the working environment to severe dust and noise pollution, which is harmful to human health. While some current automated bucket wheel reclaimers perform timed, fixed-path operations through simple programming, these can only perform simple, repetitive tasks and cannot adaptively plan relocation paths, resulting in long relocation times and extremely poor on-site adaptability. Furthermore, because they cannot effectively identify non-material piles such as stockpiles and vehicles, temporary manual intervention is often required. This only partially solves the problem of high labor intensity associated with manual operation, lacking the flexibility of manual operation. Summary of the Invention

[0003] The purpose of this invention is to provide a method, equipment, and storage medium for planning the transfer path of a bucket wheel reclaimer, so as to solve the problem that the current bucket wheel reclaimer cannot adaptively plan the transfer path, resulting in long transfer time and poor on-site adaptability.

[0004] This invention solves the above-mentioned technical problems through the following technical solution: a bucket wheel reclaimer changing path planning method, comprising the following steps:

[0005] Step 1: Determine the work stockpile;

[0006] Step 2: Obtain the first point cloud data of the working material pile and the second point cloud data of the material pile that the bucket wheel reclaimer needs to pass through between the working material pile and the current material pile; wherein, the current material pile refers to the material pile at the current position of the bucket wheel reclaimer;

[0007] Step 3: Convert each point in the first point cloud data and the second point cloud data into a point in the world coordinate system to obtain the first point set; wherein, the world coordinate system is a three-dimensional coordinate system constructed with the midpoint of the bucket wheel reclaimer's track as the origin, the bucket wheel reclaimer's track as the X-axis, the Y-axis perpendicular to the bucket wheel reclaimer's track and parallel to the horizontal plane as the Y-axis, and the Z-axis perpendicular to the XY plane;

[0008] Step 4: Extract all points from the first set of points whose Z coordinate value is greater than the height of the cantilever end of the bucket wheel reclaimer, and obtain the second set of points;

[0009] Step 5: Flatten the second set of points from a top-down angle to obtain the enclosing curve of the material pile;

[0010] Step 6: Identify all protrusions close to the bucket wheel reclaimer track from the concentric curve of the material pile, and store all protrusions in a queue according to the distance between the protrusion and the bucket wheel reclaimer; wherein, the first protrusion in the queue has the smallest distance between it and the bucket wheel reclaimer.

[0011] Step 7: Taking the position of the cantilever end of the bucket wheel reclaimer in the world coordinate system as the starting point, when the Y coordinate value of the first convex point is less than the Y coordinate value of the starting point, the first convex point is taken as the ending point; when the Y coordinate value of the first convex point is greater than or equal to the Y coordinate value of the starting point, the point formed by the X coordinate value of the first convex point and the Y coordinate value of the starting point is taken as the ending point, and the first transfer path is determined according to the starting point and the ending point.

[0012] Step 8: Taking the end point of the first transfer path as the starting point, if the Y coordinate value of the second convex point is less than the Y coordinate value of the starting point, take the second convex point as the end point; if the Y coordinate value of the second convex point is greater than or equal to the Y coordinate value of the starting point, take the point formed by the X coordinate value of the second convex point and the Y coordinate value of the starting point as the end point, and determine the second transfer path based on the starting point and the end point.

[0013] Step 9: Repeat step 8 until the transfer path planning for all convex points in the queue is completed, and output the transfer path planning results.

[0014] Furthermore, in step 1, the specific implementation process of determining the working stockpile includes:

[0015] Acquire point cloud data of each material pile in the work site, and determine the number of layers of each material pile based on the point cloud data of each material pile;

[0016] The working stockpile is determined based on the number of layers in each stockpile and the distance between the bucket wheel reclaimer and each stockpile.

[0017] Furthermore, the step of acquiring point cloud data of each material pile in the work area and determining the number of layers of each material pile based on the point cloud data specifically includes:

[0018] Obtain the plan view and depth map of each material pile;

[0019] The point cloud data of the corresponding material pile is obtained based on the plan view and depth map;

[0020] The height of the corresponding material pile is determined based on the point cloud data of the material pile, and the material pile is divided into layers to obtain the number of layers.

[0021] Furthermore, determining the working stockpile based on the number of layers in each stockpile and the distance between the bucket wheel reclaimer and each stockpile specifically includes:

[0022] Select the stockpile with the highest number of layers as the working stockpile;

[0023] When there are two or more material piles with the highest number of layers, the material pile that is closest to the bucket wheel reclaimer and has the highest number of layers shall be selected as the working material pile.

[0024] Furthermore, in step 6, the specific implementation process of identifying all the protrusions near the bucket wheel reclaimer track from the concentric curve of the material pile includes:

[0025] Find the two points X1 and X2 with the smallest and largest X coordinate values ​​on the enclosing curve of each material pile;

[0026] Extract multiple discrete points on the curve close to the X-axis and between points X1 and X2;

[0027] A univariate nonlinear fitting is performed on the extracted discrete points to obtain a univariate nonlinear regression model.

[0028] Solve for the coordinates of all minimum values ​​in the univariate nonlinear regression model to obtain the corresponding convex points of the material pile.

[0029] Furthermore, the method also includes: when the bucket wheel reclaimer moves to the working material pile according to the transfer path planning result, the bucket wheel reclaimer performs material reclaiming operation on the working material pile.

[0030] Based on the same concept, the present invention also provides an electronic device, which is communicatively connected to a bucket wheel reclaimer, the electronic device comprising:

[0031] Memory, used to store computer programs;

[0032] A processor is used to implement the bucket wheel reclaimer silo change path planning method as described above when executing the computer program.

[0033] Based on the same concept, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the bucket wheel reclaimer silo changing path planning method as described above.

[0034] Beneficial effects

[0035] Compared with the prior art, the advantages of the present invention are as follows:

[0036] This invention can acquire point cloud data of each material pile in real time when a reclaimer needs to be changed, and adaptively plan the transfer path based on the point cloud data of each material pile, thereby improving the efficiency of reclaimer changes and on-site adaptability. This invention uses autonomous path planning to replace manual labor, enabling uninterrupted operation around the clock and greatly improving operational efficiency. The planned transfer path significantly reduces the reclaimer change time, minimizes power consumption / efficiency ratio during the reclaimer change process, reduces power loss, and has strong adaptability to the on-site environment. This invention requires no human intervention, has autonomous working capabilities, reduces the working time of operators in harsh environments such as high temperature, strong noise, and dust, and reduces the risk of injury to operators from harsh environments. Attached Figure Description

[0037] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only one embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a flowchart of the bucket wheel reclaimer changing path planning method in an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the convex points during the transfer path planning in an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram illustrating the calculation of the pitch angle range under unobstructed conditions in an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram illustrating the determination of the start and end points of the operation in an embodiment of the present invention. Detailed Implementation

[0042] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] The technical solutions of this application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0044] like Figure 1 As shown in this embodiment, a bucket wheel reclaimer path planning method for transferring materials from one stockpile to a target stockpile is provided. The method includes the following steps:

[0045] Step 1: Determine the work stockpile.

[0046] In this embodiment, the specific implementation process for determining the working material pile is as follows: acquiring point cloud data of each material pile in the work site, determining the number of layers of each material pile based on the point cloud data of each material pile, and determining the working material pile based on the number of layers of each material pile and the distance between the bucket wheel reclaimer and each material pile.

[0047] A track is installed on the top of the work site (e.g., a coal yard), and a depth camera is mounted on the track. The depth camera moves back and forth on the track to scan and acquire plan and depth maps of each material pile in the work site from a top-down angle. The plan map acquired by the depth camera is typically an RGB color image, while the depth map contains depth information for each pixel in the plan map. Combining the plan and depth maps yields the point cloud data for each material pile. The plan and depth maps acquired by the depth camera are transmitted to electronic equipment via Ethernet. The electronic equipment then plans the transfer path (i.e., storage bin change path planning) and the material retrieving path for the bucket wheel reclaimer. The results of these plans are transmitted back to the bucket wheel reclaimer so that it can perform storage bin change according to the transfer path planning and material retrieving according to the material retrieving path planning.

[0048] The locations of the depth cameras are numbered, and the corresponding plan view and depth view of the material pile are obtained through these numbers. For example, when the depth camera is at location G1, it scans and obtains the plan view and depth view of material pile D1; when the depth camera is at location G2, it scans and obtains the plan view and depth view of material pile D2, and so on. The location of the depth camera can determine which material pile the obtained plan view and depth view correspond to.

[0049] Point cloud data of each material pile can also be obtained directly by scanning with a 3D scanner. By controlling the scanning angle and distance of the 3D scanner, the surface information of the material pile can be converted into point cloud data.

[0050] Each material pile is layered to obtain the number of layers for each pile. In this embodiment, the layer height is a fixed value, typically set to 2.5–3m. When the number of layers for each material pile is different, the pile with the highest number of layers is selected as the working pile; when there are two or more piles with the highest number of layers, the pile with the highest number of layers that is closest to the bucket wheel reclaimer is selected as the working pile. A positioning module is installed on the bucket wheel reclaimer to obtain its position. The position of the bucket wheel reclaimer and the point cloud data of each material pile are converted to the same coordinate system (e.g., the world coordinate system). Under the same coordinate system, the distance between the material pile and the bucket wheel reclaimer is determined based on the positions of the bucket wheel reclaimer and each material pile, thereby determining the material pile closest to the bucket wheel reclaimer.

[0051] In this embodiment, the point cloud data is based on the camera coordinate system, and the position of the bucket wheel reclaimer is based on the coordinate system corresponding to the positioning module. Both the point cloud data and the position of the bucket wheel reclaimer are transformed to the world coordinate system, and then the distance between the material pile and the bucket wheel reclaimer is determined in the world coordinate system. Coordinate system conversion is a prior art technique. In this invention, the world coordinate system is a three-dimensional coordinate system constructed with the midpoint of the bucket wheel reclaimer's track as the origin, the bucket wheel reclaimer track as the X-axis, the Y-axis perpendicular to the bucket wheel reclaimer track and parallel to the horizontal plane as the Y-axis, and the Z-axis perpendicular to the XY plane as the Z-axis. The bucket wheel reclaimer's track is located on the ground.

[0052] Step 2: Obtain the first point cloud data of the working material pile, and obtain the second point cloud data of the material pile that the bucket wheel reclaimer needs to pass through between the working material pile and the current material pile.

[0053] In this embodiment, the acquisition methods for the first and second point cloud data can refer to the acquisition methods for the point cloud data of each material pile in step 1. The current material pile refers to the material pile that the bucket wheel reclaimer has finished working on or the material pile at the current location of the bucket wheel reclaimer. The bucket wheel reclaimer needs to move from its current location to the working material pile, thus requiring autonomous planning of this transfer path to improve on-site adaptability.

[0054] Step 3: Convert each point in the first point cloud data and the second point cloud data into a point in the world coordinate system to obtain the first point set.

[0055] Step 4: Extract all points from the first set of points whose Z coordinate value is greater than the height of the cantilever end of the bucket wheel reclaimer, and obtain the second set of points.

[0056] The height of the cantilever end refers to the distance between the end of the cantilever and the ground.

[0057] Step 5: Flatten the second set of points from a top-down angle to obtain the enclosing curve of the material pile.

[0058] Flattening from a top-down perspective means flattening along the Z-axis of the world coordinate system. The material pile enclosure curve includes the working material pile enclosure curve (i.e., the curve formed by the edges) and the material pile enclosure curve that the bucket wheel reclaimer needs to pass through between the working material pile and the current material pile. The Z coordinate value of the points on the material pile enclosure curve is 0.

[0059] Step 6: Find all the protrusions close to the bucket wheel reclaimer track from the concentric curve of the material pile, and store all the protrusions in a queue according to the distance between the protrusion and the bucket wheel reclaimer. The first protrusion in the queue has the smallest distance between it and the bucket wheel reclaimer.

[0060] like Figure 2 As shown, the bucket wheel reclaimer needs to pass through two material piles. In addition to the working material pile, the protrusions Q1 to Q6 of the three material piles close to the bucket wheel reclaimer track need to be found.

[0061] Taking the material pile 1 as an example, the specific implementation process of finding all the protrusions near the bucket wheel reclaimer track in this embodiment includes:

[0062] Step 6.1: Find the two points X1 and X2 with the smallest and largest X coordinate values ​​on the enclosing curve of material pile 1;

[0063] Step 6.2: On the curve close to the X-axis and between points X1 and X2 (i.e. Figure 2 Extract multiple discrete points from the dashed line segment in the image;

[0064] Step 6.3: Perform univariate nonlinear fitting on the extracted discrete points to obtain a univariate nonlinear regression model;

[0065] Step 6.4: Solve for the coordinates of all minimum values ​​of the univariate nonlinear regression model to obtain the convex points Q1 and Q2 of the stockpile 1.

[0066] Similarly, the bumps on the material pile 2 that has been passed through and the material pile in operation can be identified.

[0067] Step 7: Starting from the position (Sx, Sy) of the cantilever end of the bucket wheel reclaimer in the world coordinate system, when the Y coordinate value Py1 of the first convex point is less than the Y coordinate value Sy of the starting point, the first convex point (Px1, Py1) is taken as the endpoint; when the Y coordinate value Py1 of the first convex point is greater than or equal to the Y coordinate value Sy of the starting point, the point (Px1, Sy) formed by the X coordinate value of the first convex point and the Y coordinate value of the starting point is taken as the endpoint. Determine the first transfer path L1 based on the starting point and the endpoint.

[0068] Step 8: Taking the end point of the first transfer path L1 (i.e., (Px1, Py1) or (Px1, Sy)) as the starting point, when the Y coordinate value Py2 of the second convex point is less than the Y coordinate value of the starting point (i.e., Py1 or Sy), take the second convex point (Px2, Py2) as the end point; when the Y coordinate value Py2 of the second convex point is greater than or equal to the Y coordinate value of the starting point, take the point formed by the X coordinate value of the second convex point and the Y coordinate value of the starting point (i.e., (Px2, Py1) or (Px2, Sy)) as the end point, and determine the second transfer path L2 based on the starting point and the end point;

[0069] Step 9: Determine if there are any bumps in the queue. If not, output the transfer path planning result; otherwise, repeat step 8, using the Kth transfer path L. K The starting point is the endpoint. When the Y-coordinate of the (K+1)th convex point is less than the Y-coordinate of the starting point, the endpoint is the (K+1)th convex point. When the Y-coordinate of the (K+1)th convex point is greater than or equal to the Y-coordinate of the starting point, the endpoint is the point formed by the X-coordinate of the (K+1)th convex point and the Y-coordinate of the starting point. The (K+1)th segment of the transfer path L is determined based on the starting point and the endpoint. K+1 .

[0070] The transfer path planning results (i.e., the first transfer path, the second transfer path, ..., the Kth transfer path, the K+1th transfer path, ...) of the bucket wheel reclaimer to the working material pile are transmitted to the bucket wheel reclaimer, so that the bucket wheel reclaimer can transfer according to the transfer path planning results and reach the working material pile.

[0071] Step 10: When the bucket wheel reclaimer moves to the working material pile according to the transfer path planning result, the bucket wheel reclaimer performs material reclaiming operation on the material layer to be reclaimed from the working material pile.

[0072] In this embodiment, the specific path planning process for retrieving material from the layer to be retrieved in the working material pile includes:

[0073] Step 10.1: Obtain the point cloud data, height, and number of layers of the work stockpile.

[0074] Similar to step 1, a plan view and depth map of the work material pile are acquired using a depth camera. Point cloud data of the work material pile is obtained based on the plan view and depth map. The height of the work material pile is determined based on the point cloud data, and the work material pile is divided into layers to obtain the number of layers. The height of each layer of the work material pile is 2.5 to 3 meters.

[0075] Step 10.2: Convert each point in the point cloud data of the working material pile in Step 10.1 into a point in the world coordinate system.

[0076] Step 10.3: Determine the material layer to be retrieved based on the height and number of layers of the working material pile, calculate the pitch angle β based on the material layer to be retrieved and the cantilever length of the bucket wheel reclaimer, and control the pitch angle of the bucket wheel reclaimer to the pitch angle β through the pitch mechanism.

[0077] Let P be the number of layers in the working material pile. The layer closest to the ground is the first layer. Each layer is ordered sequentially from bottom to top, and the highest layer is the Pth layer. The highest layer is the layer to be retrieved. The height of the layer to be retrieved is the working height range. Let H be the height of the working material pile and h be the height of each layer. Then the working height range is (P-1)×h to H.

[0078] The calculation of the pitch angle β involves two cases:

[0079] The first is that the working material pile is unobstructed, meaning there are no obstructions (such as other material piles) between the bucket wheel reclaimer and the working material pile; the second is that the working material pile is obstructed.

[0080] like Figure 3As shown, when the material pile is unobstructed, the highest point H1 of the material layer to be retrieved can be determined based on the point cloud data of the layer to be retrieved. Then, based on the highest point H1 of the material layer to be retrieved, the cantilever length L of the bucket wheel reclaimer, and the horizontal plane where the center of the bucket wheel reclaimer is located, point O1 on the horizontal plane where the center of the bucket wheel reclaimer is located is determined, that is, the distance between point O1 and point H1 is equal to the cantilever length L. The angle β1 between the line connecting point O1 and point H1 (i.e., the first connecting line) and the horizontal plane where the center of the bucket wheel reclaimer is located is calculated, and this angle β1 is the pitch angle β. In this embodiment, the bearing center of the pitch mechanism of the bucket wheel reclaimer is taken as the center of the bucket wheel reclaimer.

[0081] When the working material pile is obstructed, the point cloud data of the obstructed material pile is obtained using a depth camera. The highest point position (x, y, z) of the obstructed material pile is obtained based on the point cloud data of the obstructed material pile. If z > y × tanβ1, the obstructed material pile has an impact on the working material pile. The obstructed material pile is removed first, and then the material layer to be removed from the working material pile is removed. If z ≤ y × tanβ1, the obstructed material pile has no impact on the working material pile. The material layer to be removed from the working material pile is removed according to the pitch angle β.

[0082] In this embodiment, the specific process of removing material from the obstructed material pile is as follows:

[0083] The number of layers N of the shielding material pile is determined based on the z-coordinate value of the highest point of the shielding material pile;

[0084] Obtain point cloud data consisting of points with Y-coordinate values ​​less than Z0 / tanβ1 in the Nth layer (the highest layer of the obstructed material pile), where Z0 is the Z-coordinate value of points between (N-1)×h and N×h. Based on this point cloud data, obtain the enclosing curve and complete the material removal operation of the obstructed material pile according to steps 10.4 to 10.12. Re-obtain the position of the highest point of the obstructed material pile, assess and process the obstructed material pile until it has no impact on the working material pile. Then, perform the material removal operation on the layer to be removed from the working material pile according to the pitch angle β.

[0085] Step 10.4: Obtain the enclosing curve of the material to be removed based on the point cloud data of the material to be removed.

[0086] The point cloud data of the material pile to be removed can be determined based on the point cloud data, height and number of layers. The point cloud data of the material to be removed is flattened at a top-down angle (i.e., flattened in the Z-axis direction) to obtain the enclosing curve of the material to be removed (i.e. the curve formed by the edges).

[0087] Step 10.5: Find the point X1(x1, y1) with the smallest X coordinate value and the point X2(x2, y2) with the largest X coordinate value from the confinement curve of the material to be removed.

[0088] Step 10.6: Determine whether the distance between point X1(x1, y1) and point X2(x2, y2) in step 10.5 is greater than the set threshold.

[0089] When the distance between point X1(x1, y1) and point X2(x2, y2) is greater than the set threshold, it indicates that the material handling operation of the layer to be handled has not been completed, and the process proceeds to step 10.7, where the work position needs to be changed to continue handling the material. When the distance between point X1(x1, y1) and point X2(x2, y2) is less than or equal to the set threshold, it indicates that the enclosing curve has been exceeded, that is, the material handling operation of the layer to be handled has been completed, and the process proceeds to step 1 to redetermine the work stockpile until all material handling operations are completed.

[0090] In this embodiment, the threshold is set to 0-1m.

[0091] Step 10.7: Determine the point closer to the bucket wheel reclaimer from points X1(x1, y1) and X2(x2, y2) of the layer to be reclaimed. Determine the working position of the bucket wheel reclaimer based on the closer point and the straight line passing through the center point of the bucket wheel reclaimer and parallel to the X-axis of the world coordinate system.

[0092] like Figure 2 As shown, assume that points X1(x1, y1) and X2(x2, y2) are both points on the enclosing curve of the material layer to be removed. Figure 2 The diagram shows points X1(x1, y1) and X2(x2, y2) on the encircling curve of the material pile 1, when the bucket wheel reclaimer's forward direction is... Figure 2 When the direction shown is [specified], point X2(x2, y2) is the point closer to the bucket wheel reclaimer; when the direction of travel of the bucket wheel reclaimer is [specified], [specified] is closer to the bucket wheel reclaimer. Figure 2 When the directions are reversed, point X1(x1, y1) is the point closer to the bucket wheel reclaimer. To determine the working position, draw a circle with the closer point as the center and the cantilever length L as the radius. Of the two intersections of the circle with the straight line passing through the center point of the bucket wheel reclaimer and parallel to the X-axis of the world coordinate system, the intersection point closer to the bucket wheel reclaimer is the working position of the bucket wheel reclaimer.

[0093] Step 10.8: Control the bucket wheel reclaimer to run to the working position determined in step 10.7, and determine the starting point and ending point of the operation based on the cantilever length and encirclement curve of the bucket wheel reclaimer.

[0094] like Figure 4 As shown, the working position is located at point O. Draw a circle with point O as the center and the cantilever length L as the radius. Among the two intersection points A and B of the enclosing curve of the material to be taken and the circle, the intersection point closer to the end of the cantilever of the bucket wheel reclaimer is the starting point of the operation, and the intersection point farther from the end of the cantilever of the bucket wheel reclaimer is the ending point of the operation.

[0095] Step 10.9: Determine the first and second rotation angles based on the start and end points of the operation and the world coordinate system.

[0096] The range of rotation angles for the operation can be determined based on the first and second rotation angles. The first rotation angle is the angle between the line connecting the starting point and the working position and the forward direction of the bucket wheel reclaimer. The second rotation angle is the angle between the line connecting the ending point and the working position and the forward direction of the bucket wheel reclaimer.

[0097] Step 10.10: Based on the working position and pitch angle β, determine the material reclaiming path of the bucket wheel reclaimer according to the first slewing angle and the second slewing angle.

[0098] That is, the material picking path in step 10.10 is the material picking path under the pitch angle β and the current working position.

[0099] Step 10.11: According to the material handling path in Step 10.10, control the bucket wheel reclaimer to complete the material handling operation of this wheel.

[0100] Step 10.12: Reacquire the point cloud data of the layer to be retrieved, convert each point in the point cloud data of the layer to be retrieved into a point in the world coordinate system, and proceed to step 10.4.

[0101] When performing material handling operations on the material layer, the material handling path output by this invention is the material handling path at different working positions under the same pitch angle β.

[0102] Based on the same concept, embodiments of the present invention also provide an electronic device that is communicatively connected to a bucket wheel reclaimer. The electronic device includes a processor and a memory storing a computer program. The processor is configured to execute the computer program to implement the bucket wheel reclaimer storage change path planning method as described above.

[0103] Although not shown, the electronic device includes a processor that can perform various appropriate operations and processes based on programs and / or data stored in read-only memory (ROM) or loaded from a storage portion into random access memory (RAM). The processor can be a multi-core processor or may include multiple processors. In some embodiments, the processor may include a general-purpose main processor and one or more specialized coprocessors, such as a central processing unit (CPU), graphics processing unit (GPU), neural network processor (NPU), digital signal processor (DSP), etc. Various programs and data required for the operation of the electronic device are also stored in the RAM. The processor, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0104] The processor and memory described above are used together to execute programs stored in the memory. When the program is executed by a computer, it can implement the methods, steps, or functions described in the above embodiments.

[0105] Although not shown, embodiments of the present invention also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the bucket wheel reclaimer silo changing path planning method as described above.

[0106] Storage media in embodiments of the present invention include articles that are permanent and non-permanent, removable and non-removable, capable of storing information by any method or technology. Examples of storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0107] The above description only discloses specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or modifications that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for planning the changing path of a bucket wheel reclaimer, characterized in that, The method includes the following steps: Step 1: Determine the work stockpile; Step 2: Obtain the first point cloud data of the working material pile and the second point cloud data of the material pile that the bucket wheel reclaimer needs to pass through between the working material pile and the current material pile; wherein, the current material pile refers to the material pile at the current position of the bucket wheel reclaimer; Step 3: Convert each point in the first point cloud data and the second point cloud data into a point in the world coordinate system to obtain the first point set; wherein, the world coordinate system is a three-dimensional coordinate system constructed with the midpoint of the bucket wheel reclaimer's track as the origin, the bucket wheel reclaimer's track as the X-axis, the Y-axis perpendicular to the bucket wheel reclaimer's track and parallel to the horizontal plane as the Y-axis, and the Z-axis perpendicular to the XY plane; Step 4: Extract all points from the first set of points whose Z coordinate value is greater than the height of the cantilever end of the bucket wheel reclaimer, and obtain the second set of points; Step 5: Flatten the second set of points from a top-down angle to obtain the enclosing curve of the material pile; Step 6: Identify all protrusions close to the bucket wheel reclaimer track from the concentric curve of the material pile, and store all protrusions in a queue according to the distance between the protrusion and the bucket wheel reclaimer; wherein, the first protrusion in the queue has the smallest distance between it and the bucket wheel reclaimer. Step 7: Taking the position of the cantilever end of the bucket wheel reclaimer in the world coordinate system as the starting point, when the Y coordinate value of the first convex point is less than the Y coordinate value of the starting point, the first convex point is taken as the ending point; when the Y coordinate value of the first convex point is greater than or equal to the Y coordinate value of the starting point, the point formed by the X coordinate value of the first convex point and the Y coordinate value of the starting point is taken as the ending point, and the first transfer path is determined according to the starting point and the ending point. Step 8: Taking the end point of the first transfer path as the starting point, if the Y coordinate value of the second convex point is less than the Y coordinate value of the starting point, take the second convex point as the end point; if the Y coordinate value of the second convex point is greater than or equal to the Y coordinate value of the starting point, take the point formed by the X coordinate value of the second convex point and the Y coordinate value of the starting point as the end point, and determine the second transfer path based on the starting point and the end point. Step 9: Repeat step 8 until the transfer path planning for all convex points in the queue is completed, and output the transfer path planning results.

2. The bucket wheel reclaimer silo change path planning method according to claim 1, characterized in that, In step 1, the specific implementation process of determining the working stockpile includes: Acquire point cloud data of each material pile in the work site, and determine the number of layers of each material pile based on the point cloud data of each material pile; The working stockpile is determined based on the number of layers in each stockpile and the distance between the bucket wheel reclaimer and each stockpile.

3. The bucket wheel reclaimer silo change path planning method according to claim 2, characterized in that, The acquisition of point cloud data for each material pile in the work area, and the determination of the number of layers for each material pile based on the point cloud data, specifically includes: Obtain the plan view and depth map of each material pile; The point cloud data of the corresponding material pile is obtained based on the plan view and depth map; The height of the corresponding material pile is determined based on the point cloud data of the material pile, and the material pile is divided into layers to obtain the number of layers.

4. The bucket wheel reclaimer silo change path planning method according to claim 2, characterized in that, The determination of the working material pile based on the number of layers in each material pile and the distance between the bucket wheel reclaimer and each material pile specifically includes: Select the stockpile with the highest number of layers as the working stockpile; When there are two or more material piles with the highest number of layers, the material pile that is closest to the bucket wheel reclaimer and has the highest number of layers shall be selected as the working material pile.

5. The bucket wheel reclaimer silo change path planning method according to claim 1, characterized in that, In step 6, the specific implementation process of finding all the protrusions near the bucket wheel reclaimer track from the confinement curve of the material pile includes: Find the two points X1 and X2 with the smallest and largest X coordinate values ​​on the enclosing curve of each material pile; Extract multiple discrete points on the curve close to the X-axis and between points X1 and X2; A univariate nonlinear fitting is performed on the extracted discrete points to obtain a univariate nonlinear regression model. Solve for the coordinates of all minimum values ​​in the univariate nonlinear regression model to obtain the corresponding convex points of the material pile.

6. The bucket wheel reclaimer silo change path planning method according to any one of claims 1 to 5, characterized in that, The method further includes: when the bucket wheel reclaimer moves to the working material pile according to the transfer path planning result, the bucket wheel reclaimer performs material reclaiming operation on the working material pile.

7. An electronic device, characterized in that, The electronic device is communicatively connected to the bucket wheel reclaimer, and the electronic device includes: Memory, used to store computer programs; A processor is configured to implement the bucket wheel reclaimer silo change path planning method as described in any one of claims 1 to 6 when executing the computer program.

8. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by the processor, it implements the bucket wheel reclaimer silo change path planning method as described in any one of claims 1 to 6.

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