Control method for excavating machine, processor, excavating machine, and storage medium

Abstract

The embodiment of the application provides a control method, a processor, a excavating machine and a storage medium for the excavating machine, and belongs to the technical field of engineering machinery. The control method for the excavating machine comprises the following steps: obtaining three-dimensional point cloud data of a material pile; determining the highest point of the material pile according to the three-dimensional point cloud data; determining the target loading action type of the excavating machine according to the highest point; and controlling the excavating machine to perform the loading action corresponding to the target loading action type. The embodiment of the application can improve the loading efficiency.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and more specifically to a control method, processor, excavating machinery, and storage medium for excavating machinery. Background Technology

[0002] In the field of construction machinery, excavators are widely used for loading tasks in scenarios such as soil pile loading, mining area loading and transfer, and material pile clearing. In existing technologies, excavators typically employ a single loading action mode when performing automatic loading operations. However, in real-world applications, the shapes of material piles often vary, and using a single loading action mode may result in a low bucket fill rate, leading to low loading efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a control method, processor, excavating machinery, and storage medium for excavating machinery, in order to solve the problem of low loading efficiency in the prior art.

[0004] To achieve the above objectives, a first aspect of the present invention provides a control method for excavating machinery, the control method comprising:

[0005] Acquire 3D point cloud data of the material pile;

[0006] Determine the highest point of the material pile based on 3D point cloud data;

[0007] Determine the target loading action type of the excavating machinery based on the highest point;

[0008] Control the excavating machinery to perform the loading action corresponding to the target loading action type.

[0009] In this embodiment of the invention, determining the target loading action type of the excavator based on the highest point includes: when the height value corresponding to the highest point is greater than or equal to a first preset height threshold, determining the distance between the highest point and the rotation center of the excavator; when the distance is less than or equal to the maximum operating radius of the excavator, determining the target loading action type as feeding behind the highest point; and when the distance is greater than the maximum operating radius of the excavator, determining the target loading action type as feeding in front of the highest point.

[0010] In this embodiment of the invention, controlling the excavator to perform a loading action corresponding to the target loading action type includes: when the target loading action type is determined to be feeding material behind the highest point, determining the first target initial position of the bucket based on the highest point and the radius of the bucket of the excavator, wherein the x-coordinate of the first target initial position is the sum of the x-coordinate of the highest point and the radius of the bucket, the y-coordinate and z-coordinate of the first target initial position are the same as the y-coordinate and height of the highest point, respectively, the x-coordinate is the value on the coordinate axis along the front-back direction of the excavator, the y-coordinate is the value on the coordinate axis along the left-right direction of the excavator, and the z-coordinate is the value on the coordinate axis along the height direction; controlling the bucket to perform the loading action based on the first target initial position.

[0011] In this embodiment of the invention, controlling the excavator to perform a loading action corresponding to the target loading action type includes: when the target loading action type is determined to be feeding material in front of the highest point, determining the nearest point of the material pile based on three-dimensional point cloud data; obtaining the slope of the slope where the highest point and the nearest point are located; determining the second target initial position of the excavator's bucket based on the slope, the maximum operating radius, the highest point, and the nearest point, wherein the y-coordinate value of the second target initial position is the same as the y-coordinate value of the highest point, and the x-coordinate value and z-coordinate value of the second target initial position are determined according to the following formula:

[0012]

[0013]

[0014] Where x is the x-coordinate of the initial position of the second target, z is the z-coordinate of the initial position of the second target, θ is the slope, and R max For the maximum operating radius, x min The x-coordinate value is the value along the front-to-back direction of the excavator, the y-coordinate value is the value along the left-to-right direction of the excavator, and the z-coordinate value is the value along the height direction. The bucket is controlled to perform loading actions based on the initial position of the second target.

[0015] In an embodiment of the present invention, the control method for excavating machinery further includes: controlling the initial loading posture of the bucket to a first target initial loading posture, wherein the first target initial loading posture includes the angle between the back of the bucket and the horizontal plane being within a first preset angle range.

[0016] In this embodiment of the invention, the control method for excavating machinery further includes: controlling the initial loading posture of the bucket to a second target initial loading posture, wherein the second target initial loading posture includes the angle between the back of the bucket and the inclined plane being within a second preset angle range.

[0017] In this embodiment of the invention, determining the target loading action type of the excavator based on the highest point includes: when the height value corresponding to the highest point is greater than or equal to a second preset height threshold and less than a first preset height threshold, determining the target loading action type as a flat scraping and material collection action.

[0018] In this embodiment of the invention, controlling the excavator to perform the loading action corresponding to the target loading action type includes: determining the target flat scraping distance of the excavator's bucket based on the height value according to the pre-stored correspondence between the material pile height and the flat scraping collection distance; and controlling the bucket to perform the flat scraping collection action according to the target flat scraping collection distance.

[0019] In this embodiment of the invention, determining the target loading action type of the excavator based on the highest point includes: when the height value corresponding to the highest point is less than a second preset height threshold and greater than a third preset height threshold, determining the horizontal distance between the leftmost and rightmost points of the material pile based on three-dimensional point cloud data; when the horizontal distance is greater than or equal to a preset horizontal distance threshold, determining the target loading action type as a material gathering and collecting action.

[0020] In this embodiment of the invention, the control method for the excavating machinery further includes: when the height value is less than or equal to a third preset height threshold and / or the horizontal distance is less than a preset horizontal distance threshold, controlling the excavating machinery to retreat and returning to the step of acquiring the three-dimensional point cloud data of the material pile, until the number of times the excavating machinery retreats reaches a preset retreat number threshold and the loading action is stopped.

[0021] In this embodiment of the invention, the control method for the excavating machinery further includes: after the excavating machinery completes the loading action, re-acquiring the three-dimensional point cloud data of the material pile, and determining the updated highest point based on the re-acquiring three-dimensional point cloud data; if the height value of the updated highest point is determined to be less than a second preset height threshold, controlling the excavating machinery to retreat and returning to the step of acquiring the three-dimensional point cloud data of the material pile according to the above embodiment, until the number of retreats of the excavating machinery reaches a preset retreat number threshold and the loading action is stopped; if the height value of the updated highest point is determined to be greater than or equal to the second preset height threshold, returning to the step of acquiring the three-dimensional point cloud data of the material pile according to the above embodiment.

[0022] A second aspect of the present invention provides a processor configured to execute the control method for excavating machinery as described above.

[0023] A third aspect of the present invention provides an excavating machine, comprising: the processor described above.

[0024] A fourth aspect of the present invention provides a machine-readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the control method for excavating machinery described above.

[0025] The above technical solution acquires three-dimensional point cloud data of the material pile, determines its highest point based on the data, and then determines the target loading action type for the excavator based on this highest point. This allows the excavator to execute the loading action corresponding to the target loading action type. This control method can determine the corresponding target loading action type based on different material pile highest points, and control the excavator to execute the loading action according to the determined target loading action type. In other words, there is a one-to-one correspondence between material pile characteristics and loading action types. By executing corresponding loading actions based on the shape characteristics of different material piles, the fullness rate of the bucket can be improved, the number of loading operations by the excavator can be reduced, and the loading efficiency of the excavator can be increased.

[0026] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0027] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0028] Figure 1 The schematic diagram illustrates a flow chart of a control method for excavating machinery according to an embodiment of the present invention;

[0029] Figure 2 The schematic diagram illustrates a flow chart of a control method for excavating machinery according to another embodiment of the present invention;

[0030] Figure 3 This schematic diagram illustrates a top view of a material pile stacked in front of the excavator chassis in one embodiment of the present invention;

[0031] Figure 4 This schematic diagram illustrates the loading posture analysis of the relative position of the excavating machinery working device and the material pile in one embodiment of the present invention;

[0032] Figure 5 This schematic diagram illustrates the trajectory of the shovel tip during the material feeding and digging action behind the highest point in one embodiment of the present invention.

[0033] Figure 6 This schematic diagram illustrates the trajectory of the shovel tip during the material feeding and digging action in front of the highest point in one embodiment of the present invention.

[0034] Figure 7(a) schematically illustrates the shovel tip trajectory with a high material pile and short flat scraping distance in one embodiment of the present invention;

[0035] Figure 7(b) schematically illustrates the trajectory of the shovel tip in an embodiment of the present invention, where the material pile is relatively short and the flat scraping distance is long.

[0036] Figure 8 This diagram illustrates the trajectory of the shovel tip during the material gathering action in one embodiment of the present invention.

[0037] Figure 9 The diagram illustrates the structure of a control device for excavating machinery according to an embodiment of the present invention. Detailed Implementation

[0038] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0039] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0040] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0041] Figure 1 The diagram illustrates a flow chart of a control method for excavating machinery according to an embodiment of the present invention. Figure 1 As shown, in this embodiment of the invention, a control method for excavating machinery is provided. Taking the application of this control method to a processor as an example, the control method may include the following steps:

[0042] Step S102: Obtain the three-dimensional point cloud data of the material pile.

[0043] Step S104: Determine the highest point of the material pile based on the three-dimensional point cloud data.

[0044] Step S106: Determine the target loading action type of the excavating machinery based on the highest point.

[0045] Step S108: Control the excavating machinery to execute the loading action corresponding to the target loading action type.

[0046] It can be understood that the material pile is the object on which the excavating machinery performs material loading actions. The 3D point cloud data of the material pile can include information such as the 3D coordinates of each point on the pile, which can be obtained through scanning with equipment such as LiDAR. Furthermore, the LiDAR can be installed on the excavating machinery, for example, on the body of the excavating machinery, or on the top of the upper part of the excavating machinery. The highest point of the material pile is the point with the largest elevation data in the material pile. The target loading action type is the type of loading action performed by the excavating machinery based on the material pile information (such as the highest point of the material pile). For example, it can include feeding and collecting materials and gathering and collecting materials. Feeding and collecting materials means that the bucket of the excavating machinery directly enters the material pile to load materials, while gathering and collecting materials means that the bucket of the excavating machinery needs to gather the material pile at both ends towards the middle before loading materials.

[0047] Specifically, the processor can acquire 3D point cloud data of the material pile through devices such as LiDAR, and process the 3D point cloud data to determine the highest point of the material pile. For example, the outline of the material pile can be determined based on multiple 3D point cloud data, and the highest point of the material pile can be determined based on the outline. Then, the target loading action type of the excavator can be determined based on the highest point of the material pile. Taking the target loading action type as including feeding and collecting and gathering and collecting as an example, when the height of the highest point of the material pile is greater than a certain preset threshold, the target loading action type can be determined to be feeding and collecting, and vice versa. In some embodiments, a correspondence table between the position of the highest point and the target loading action type of the excavator can be stored in advance, so that the correspondence table can be looked up to determine the target loading action type of the excavator corresponding to the current highest point. After determining the target loading action type of the excavator, the processor can control the excavator to perform the loading action corresponding to the target loading action type, that is, control the bucket of the excavator to load the material in the material pile according to the loading action corresponding to the target loading action type.

[0048] The aforementioned control method for excavating machinery acquires three-dimensional point cloud data of the material pile, determines the highest point of the pile based on this data, and then determines the target loading action type for the excavating machinery based on this highest point. This method controls the excavating machinery to execute the loading action corresponding to the target loading action type. This control method can determine the corresponding target loading action type based on different highest points of the material pile, and controls the excavating machinery to execute the loading action according to the determined target loading action type. In other words, there is a one-to-one correspondence between the material pile characteristics and the loading action type. By executing corresponding loading actions based on the shape characteristics of different material piles, the full bucket rate of the bucket can be improved, the number of loading operations by the excavating machinery can be reduced, and the loading efficiency of the excavating machinery can be increased.

[0049] In one embodiment, determining the target loading action type of the excavator based on the highest point includes: if the height value corresponding to the highest point is greater than or equal to a first preset height threshold, determining the distance between the highest point and the rotation center of the excavator; if the distance is less than or equal to the maximum operating radius of the excavator, determining the target loading action type as feeding behind the highest point; and if the distance is greater than the maximum operating radius of the excavator, determining the target loading action type as feeding in front of the highest point.

[0050] It can be understood that the maximum operating radius of the excavating machinery here refers to the maximum operating radius based on the boom and stick of the excavating machinery, that is, the sum of the maximum extension distances of the boom and stick. The first preset height threshold is a pre-set reference height threshold. "Feeding from behind the highest point" refers to a loading action type where the bucket starts feeding material from behind the highest point of the material pile. "Feeding from in front of the highest point" refers to a loading action type where the bucket starts feeding material from in front of the highest point of the material pile.

[0051] Specifically, when the height value corresponding to the highest point is greater than or equal to the first preset height threshold, the processor can determine the distance between the highest point and the rotation center of the excavator. This distance can be calculated using the coordinate data corresponding to the highest point. For example, a three-dimensional spatial coordinate system can be established with the rotation center of the excavator as the origin. The position of the highest point of the material pile relative to the rotation center of the excavator is (x1, y1, z1), where the x-axis is the coordinate axis along the front-back direction of the excavator, the y-axis is the coordinate axis along the left-right direction of the excavator, and the z-axis is the coordinate axis along the height direction. Understandably, the front-back direction of the excavator can specifically be the front-back direction of the upper vehicle, and the left-right direction of the excavator can specifically be the left-right direction of the upper vehicle. This distance can be calculated... The value of x1 represents the x-coordinate of the highest point of the material pile, and z1 represents the z-coordinate of the highest point. After obtaining this distance, it can be compared with the maximum operating radius of the excavator. If the distance is less than or equal to the maximum operating radius, the processor determines the target loading action type as feeding material behind the highest point. Conversely, if the distance is greater than the maximum operating radius, the processor determines the target loading action type as feeding material in front of the highest point.

[0052] In this embodiment, the target loading action type of the excavator is determined based on the height information of the highest point of the material pile and the distance information between the highest point of the material pile and the rotation center of the excavator. When the height value corresponding to the highest point of the material pile is greater than or equal to a first preset height threshold, that is, when the material pile has a certain height, if the distance between the highest point of the material pile and the rotation center of the excavator is within the operating radius of the excavator, feeding material from behind the highest point of the material pile can ensure the full bucket rate. Feeding material from in front of the highest point of the material pile will affect the action planning and execution of the bucket, which is not conducive to meeting the requirement of a high full bucket rate. Conversely, if the distance between the highest point of the material pile and the rotation center of the excavator is outside the operating radius of the excavator, the bucket will not be able to dig to the highest point of the material pile. In this case, the loading action type of feeding material from in front of the highest point is adopted. Due to the discrete characteristics of the material pile, the material pile above the feeding position will slide down, so it will not affect the subsequent digging and loading work of the excavator.

[0053] In one embodiment, controlling the excavator to perform a loading action corresponding to a target loading action type includes: when the target loading action type is determined to be feeding material behind the highest point, determining a first target initial position of the bucket based on the highest point and the radius of the excavator's bucket, wherein the x-coordinate of the first target initial position is the sum of the x-coordinate of the highest point and the radius of the bucket, the y-coordinate and z-coordinate of the first target initial position are the same as the y-coordinate and height of the highest point, respectively, the x-coordinate is a value on the coordinate axis along the front-back direction of the excavator, the y-coordinate is a value on the coordinate axis along the left-right direction of the excavator, and the z-coordinate is a value on the coordinate axis along the height direction; and controlling the bucket to perform the loading action based on the first target initial position.

[0054] It can be understood that the initial position of the first target is the initial position of the bucket end trajectory planning corresponding to the loading action type of material feeding behind the highest point. The radius of the bucket is usually a fixed value, which can be determined and stored in advance based on the parameters of the excavating machinery.

[0055] Specifically, when the target loading action type is determined to be material feeding behind the highest point, the processor can determine the first target initial position of the bucket based on the highest point and the radius of the excavator's bucket. This allows the processor to control the bucket to begin the loading action from this initial target position. It's worth noting that although the bucket does not directly contact the material pile at this point, the planned trajectory of the bucket's end passes through a portion of the material pile; that is, the bucket's end can enter the material pile to load material during the loading action. More specifically, the x-coordinate value of the first target initial position can be the sum of the x-coordinate value of the highest point and the radius of the bucket. The y-coordinate value of the first target initial position is the same as the y-coordinate value of the highest point, and the z-coordinate value of the first target initial position is the same as the height value of the highest point. The height value of the highest point is also its z-coordinate value. Here, the x-coordinate value is the value along the front-back direction of the excavator, the y-coordinate value is the value along the left-right direction of the excavator, and the z-coordinate value is the value along the height direction. The precise determination of the initial position of the first target ensures that the bucket end begins loading from a distance of one bucket radius behind the highest point of the material pile. Starting from this initial position, the subsequent bucket trajectory planning ensures that the bucket end can load more material after entering the material pile, thereby increasing the bucket fullness rate, reducing the number of loading operations for the excavator, and improving loading efficiency.

[0056] In one embodiment, controlling the excavator to perform a loading action corresponding to the target loading action type includes: when the target loading action type is determined to be feeding material in front of the highest point, determining the nearest point of the material pile based on three-dimensional point cloud data; obtaining the slope of the slope where the highest point and the nearest point are located; determining the second target initial position of the excavator's bucket based on the slope, the maximum operating radius, the highest point, and the nearest point, wherein the y-coordinate value of the second target initial position is the same as the y-coordinate value of the highest point, and the x-coordinate value and z-coordinate value of the second target initial position are determined according to the following formula:

[0057]

[0058]

[0059] Where x is the x-coordinate of the initial position of the second target, z is the z-coordinate of the initial position of the second target, θ is the slope, and R max For the maximum operating radius, x min The x-coordinate value is the value along the front-to-back direction of the excavator, the y-coordinate value is the value along the left-to-right direction of the excavator, and the z-coordinate value is the value along the height direction. The bucket is controlled to perform loading actions based on the initial position of the second target.

[0060] It is understood that the nearest point in the material pile is the point within the pile closest to the excavating machinery. This can be determined, for example, by the coordinates along the forward and backward directions of the excavating machinery in the 3D point cloud data, and the point with the smallest coordinate value can be taken as the nearest point. The slope of the slope containing the highest point and the nearest point can be determined using 3D point cloud data. For example, the slope of the slope containing the highest and nearest points can be determined by recognizing the outline of the material pile based on its 3D point cloud data, or by the angle between the line connecting the highest and nearest points and the ground. In other embodiments, the slope of the slope containing the highest and nearest points can also be obtained using devices such as LiDAR that acquire 3D point cloud data. The initial position of the second target is the initial position of the bucket end trajectory planning corresponding to the loading action type of material entering in front of the highest point.

[0061] Specifically, when the target loading action type is determined to be feeding material in front of the highest point, the processor can determine the nearest point of the material pile based on the three-dimensional point cloud data of the material pile. Then, it can obtain the slope of the slope where the highest point and the nearest point are located. Based on the slope of the slope, the maximum operating radius of the excavator, the highest point of the material pile, and the nearest point of the material pile, the processor determines the second target initial position of the excavator's bucket. The y-coordinate value of the second target initial position is the same as the y-coordinate value of the highest point. The x-coordinate value and z-coordinate value of the second target initial position can be determined according to the above formula. After determining the second target initial position according to the above formula, the processor can control the bucket to start performing the loading action at the second target initial position. The precise determination of the initial position of the second target allows the loading action to begin in front of the highest point. This position enables the end of the bucket to directly contact the material pile. The subsequent bucket trajectory can load more material within the operating radius of the excavator, increasing the bucket's fullness rate, reducing the number of loading cycles, and improving loading efficiency. Moreover, due to the discrete nature of the material pile, the material pile behind the initial position of the second target will slide down after the first loading cycle, thus not affecting subsequent loading operations.

[0062] In one embodiment, the control method for the excavating machinery further includes: controlling the initial loading posture of the bucket to a first target initial loading posture, wherein the first target initial loading posture includes the angle between the back of the bucket and the horizontal plane being within a first preset angle range.

[0063] Understandably, in addition to defining the initial position of the bucket end, the loading posture of the bucket performing the loading action at the initial position can also be defined. The initial loading posture is the bucket loading posture corresponding to the initial position of the bucket end on the trajectory. The first target initial loading posture is the bucket loading posture corresponding to the initial position of the first target, specifically including the angle between the bucket's back surface and the horizontal plane falling within a first preset angle range. The first preset angle range is a pre-set, reasonably reasonable angle range between the bucket's back surface and the horizontal plane, such as 30 degrees to 90 degrees. The specific angle range can be determined based on actual bucket fullness requirements.

[0064] Specifically, after determining the initial position of the first target, the processor can control the initial loading posture of the bucket to match the initial loading posture of the first target, that is, control the angle between the back of the bucket and the horizontal plane to be within a first preset angle range. Understandably, by further limiting the loading posture of the bucket at the initial position of the first target, the bucket's fullness rate can be further improved, thereby further improving the loading efficiency of the excavating machinery.

[0065] In one embodiment, the control method for the excavating machinery further includes: controlling the initial loading posture of the bucket to a second target initial loading posture, wherein the second target initial loading posture is such that the angle between the back of the bucket and the inclined plane is within a second preset angle range.

[0066] It can be understood that the initial loading posture of the second target is the bucket loading posture corresponding to the initial position of the second target. Specifically, it can include the angle between the back of the bucket and the inclined plane where the highest point and the nearest point are located being within a second preset angle range. The second preset angle range is a pre-set reasonable angle range between the back of the bucket and the horizontal plane, such as 30 degrees to 60 degrees. The specific angle range can be determined according to the actual bucket fullness requirements.

[0067] Specifically, after determining the initial position of the second target, the processor can control the initial loading posture of the bucket to match the initial loading posture of the second target, that is, control the angle between the back of the bucket and the inclined plane containing the highest and closest points to be within a second preset angle range. Understandably, by further limiting the loading posture of the bucket at the initial position of the second target, the fullness rate of the bucket can be further improved, thereby increasing the loading efficiency of the excavating machinery.

[0068] In one embodiment, determining the target loading action type of the excavator based on the highest point includes: if the height value corresponding to the highest point is greater than or equal to a second preset height threshold and less than a first preset height threshold, determining the target loading action type as a flat scraping and collecting action.

[0069] It is understood that the second preset height threshold is a pre-set height threshold, and its value is less than the first preset height threshold. The flat scraping and material collection action is the loading action of scraping back and retracting the bucket with the back of the bucket close to the ground.

[0070] Specifically, when the height value corresponding to the highest point is greater than or equal to the second preset height threshold and less than the first preset height threshold, that is, when the height value corresponding to the highest point is between the first preset height threshold and the second preset height threshold, the processor can determine that the target loading action type of the excavator is a flat scraping and collecting action. At this time, the height of the material pile is neither too high nor too low, so a flat scraping and collecting action can be adopted, that is, loading material by scraping and collecting material at the same time. Using this loading action type can improve the full bucket rate of the bucket, thereby improving the loading efficiency.

[0071] In one embodiment, when the target loading action type is a flat scraping and collecting action, controlling the excavator to perform the loading action corresponding to the target loading action type may include: controlling the excavator to perform a flat scraping and collecting action according to the maximum working radius of the excavator.

[0072] In one embodiment, controlling the excavator to perform a loading action corresponding to the target loading action type includes: determining the target flat scraping distance of the excavator's bucket based on the height value according to a pre-stored correspondence between the material pile height and the flat scraping collection distance; and controlling the bucket to perform the flat scraping collection action according to the target flat scraping collection distance.

[0073] It is understandable that the relationship between the material pile height and the scraper collection distance is one-to-one. If the material pile is high, the scraper collection distance can be relatively short; if the material pile is low, the scraper collection distance can be relatively long. Therefore, the material pile height and the scraper collection distance are negatively correlated. This relationship can be predetermined and stored. The target scraper collection distance is the optimal scraper collection distance for the bucket.

[0074] Specifically, the processor can determine the target flat scraping distance of the excavator's bucket based on the pre-stored correspondence between the height of the material pile and the flat scraping distance, according to the height value of the highest point of the material pile. Then, it can control the bucket to perform the flat scraping action according to the target flat scraping distance, that is, control the bucket's flat scraping distance to be the target flat scraping distance.

[0075] In this embodiment of the application, by pre-storing the correspondence between the height of the material pile and the horizontal scraping and collecting distance, before performing the horizontal scraping and collecting action, the target horizontal scraping and collecting distance corresponding to the height value of the highest point of the material pile can be determined. Then, the horizontal scraping and collecting distance of the bucket can be controlled according to the target horizontal scraping and collecting distance to meet the requirement of a higher bucket full rate and improve loading efficiency.

[0076] In one embodiment, determining the target loading action type of the excavator based on the highest point includes: when the height value corresponding to the highest point is less than a second preset height threshold but greater than a third preset height threshold, determining the horizontal distance between the leftmost and rightmost points of the material pile based on three-dimensional point cloud data; and when the horizontal distance is greater than or equal to a preset horizontal distance threshold, determining the target loading action type as a material gathering and collecting action.

[0077] It is understandable that the third preset height threshold is a pre-set lower height threshold, whose value is less than the second preset height threshold. The leftmost point of the material pile is the leftmost point of the material pile facing the excavator, and the rightmost point of the material pile is the rightmost point of the material pile facing the excavator. The horizontal distance between the leftmost and rightmost points of the material pile can be determined based on the 3D point cloud data of the material pile. Specifically, the determination process can be to first perform material pile contour recognition based on the 3D point cloud data of the material pile to determine the leftmost and rightmost points of the material pile, and then determine the horizontal distance between the leftmost and rightmost points. The preset horizontal distance threshold is a pre-set horizontal distance threshold. The material gathering action is the loading action in which the bucket of the excavator needs to gather the material piles at both ends towards the middle before loading the material.

[0078] Specifically, when the height value corresponding to the highest point is less than the second preset height threshold but greater than the third preset height threshold, the processor can determine the horizontal distance between the leftmost and rightmost points of the material pile based on the 3D point cloud data of the material pile, and compare this horizontal distance with a preset horizontal distance threshold. If the horizontal distance is greater than or equal to the preset horizontal distance threshold, the processor can determine that the target loading action type of the excavator is a material gathering and collecting action. Understandably, when the height value corresponding to the highest point is relatively small, i.e., between the second and third preset height thresholds, and the horizontal distance between the leftmost and rightmost points of the material pile is relatively large, i.e., greater than or equal to the preset horizontal distance threshold, the material gathering and collecting loading action type can be used to load the material pile, thereby ensuring a higher hopper fullness rate and improving loading efficiency.

[0079] In one embodiment, the control method for the excavating machinery may further include: when the height value is less than or equal to a third preset height threshold and / or the horizontal distance is less than a preset horizontal distance threshold, controlling the excavating machinery to retreat and return to the step of acquiring three-dimensional point cloud data of the material pile, until the number of times the excavating machinery retreats reaches a preset number of retreats threshold and the loading action is stopped.

[0080] It is understandable that during the loading process of the material pile, due to the discrete nature of the pile, some of the remaining material may gather or be compressed to a position close to the front of the excavator's chassis. The excavator cannot easily excavate and load the material pile near the front of the chassis, creating a blind spot and making it difficult for the excavator's working device to reach that position for loading. Therefore, the excavator needs to retreat a certain distance before it can excavate and load the remaining material pile in front. The preset retreat threshold is a pre-set threshold for the number of times the excavator can retreat, which can be set according to the actual scenario, for example, twice.

[0081] Specifically, when the height of the material pile is less than or equal to the third preset height threshold, or when the horizontal distance between the leftmost and rightmost points of the material pile is less than the preset horizontal distance threshold, or when the height of the material pile is less than or equal to the third preset height threshold and the horizontal distance between the leftmost and rightmost points of the material pile is less than the preset horizontal distance threshold, the processor can control the excavator to retreat and return to the step of obtaining the three-dimensional point cloud data of the material pile in step S102 above, until the number of times the excavator retreats reaches the preset number of retreats threshold and the loading action stops. Understandably, when the number of times the excavator retreats reaches the preset number of retreats threshold, it can be basically determined that the material pile has been basically loaded.

[0082] In this embodiment of the application, by controlling the excavator to retreat in certain scenarios to load the remaining material pile near the chassis, and by controlling the number of times the excavator retreats, the full loading rate of the material pile can be ensured, the working efficiency of the excavator can be improved, and the working time of the excavator can be shortened.

[0083] In one embodiment, the control method for the excavating machinery may further include: after the excavating machinery completes the loading action, reacquiring the three-dimensional point cloud data of the material pile, and determining the updated highest point based on the reacquiring three-dimensional point cloud data; if the height value of the updated highest point is determined to be less than a second preset height threshold, controlling the excavating machinery to retreat and returning to the step of acquiring the three-dimensional point cloud data of the material pile in step S102 above, until the number of retreats of the excavating machinery reaches a preset retreat number threshold and the loading action is stopped; if the height value of the updated highest point is determined to be greater than or equal to the second preset height threshold, returning to the step of acquiring the three-dimensional point cloud data of the material pile in step S102 above.

[0084] Specifically, after the excavator completes the loading action, the processor can reacquire the three-dimensional point cloud data of the material pile, determine the updated highest point of the material pile based on the reacquired three-dimensional point cloud data, and compare the height value of the updated highest point of the material pile with a second preset height threshold. Based on the comparison result, it is determined whether to control the excavator to retreat, that is, whether to control the excavator to retreat first and then enter the next material pile loading cycle, or to directly enter the next material pile loading cycle. When it is determined that the height value of the updated highest point is less than the second preset height threshold, the processor controls the excavator to retreat and returns to the step of acquiring the three-dimensional point cloud data of the material pile in step S102 above to perform loading, until the number of times the excavator retreats reaches the preset retreat number threshold, at which point the loading action stops. If it is determined that the height value of the updated highest point is greater than or equal to the second preset height threshold, then it directly returns to the step of acquiring the three-dimensional point cloud data of the material pile in step S102 above, that is, it is not necessary to control the excavator to retreat, and the material pile loading is directly performed according to the control method for the excavator in the previous embodiment.

[0085] In this embodiment, during the loading of coiled material, the discrete characteristics of the material pile cause excess material to accumulate close to the front of the undercarriage due to compression. Before the material pile within the outline range is fully loaded, excess material will always overflow from the bucket and accumulate close to the undercarriage during excavation due to the discrete characteristics of the material pile. Therefore, to avoid repetitive work and to prevent the transmission of the outline information of the excess material pile overflowing from the bucket to the processor, the interception range of the first material pile scan before coiled material loading (i.e., the acquisition of the three-dimensional point cloud data of the material pile) is relatively small, while the interception range of the second material pile scan after loading is larger. The obtained elevation information of all material piles in front of the excavating machinery will be used as the basis for judging the loading status of the material pile. That is, the second material pile scan can effectively reduce blind spots and improve loading efficiency. In a specific embodiment, a control method for excavating machinery is provided, such as... Figure 2 As shown, the technical solution provided in this embodiment addresses the task of loading material piles in automated excavator operations. It achieves autonomous loading based on the material pile's outline. The autonomous loading operation is achieved by the task system providing the loading and unloading positions of the material pile, determining the relative position between the excavator and the pile. The excavator, based on a sensing module, planning module, walking module, and motion control module, completes the automated loading operation. This method, based on the principle of ensuring the bucket's material pile fill rate is greater than 80%, uses a solid-state LiDAR to scan the material pile outline to obtain elevation data. This data is processed to obtain the highest point of the pile, the point closest to the excavator, and the leftmost and rightmost points of the pile, which are then transmitted to the excavator's planning module. Based on different pile shapes, the module adaptively executes excavation actions. The bucket's end trajectory is determined based on the material pile outline elevation data, the excavator's bucket size, and the working range of the working device.

[0086] Wherein the specific bucket end trajectory control of the digging action is determined by the following method:

[0087] Determining the digging working face: determining the rotation angle of the rotation mechanism of the digging machine according to the deflection in the y-axis direction of the highest position (x1, y1, z1) of the pile relative to the rotation center coordinate system of the rotation mechanism of the digging machine, and performing the charging action on the vertical plane where the highest point of the pile is located; wherein the establishment of the rotation center coordinate system comprises taking the rotation center as an origin, determining the front-rear direction of the digging machine as the x-axis direction, the left-right direction of the digging machine as the y-axis direction, and the height direction as the z-axis direction.

[0088] The digging and rolling material loading method can be divided into three action execution modes, and thresholds are determined by the pile elevation data and the bucket capacity: a plurality of preset height thresholds H1, H2, H3 and a preset horizontal distance threshold D (i.e., the pile contour width threshold), different loading actions are determined within different thresholds; further, the thresholds are different due to different dimensions of different digging machines. For example, when the height value z1 of the highest point of the pile is z1≥H1, the bucket feeding position is determined, and the trajectory planning of feeding-rolling-lifting is determined; when H2<z1<H1, the bucket performs trajectory planning of rolling-leveling-collecting-lifting based on the farthest position reachable by the working device, wherein the range of the collecting process can be determined by the farthest end reachable by the working device of the digging machine and the nearest end data obtained by radar scanning, and the length of the leveling distance can be determined by the pile contour surface and the bucket capacity; when H3<z1<H2 and |y2-y3|>D, wherein |y2-y3| represents the horizontal distance between the leftmost point and the rightmost point, the pile is short and relatively dispersed, and the pile needs to be gathered to facilitate the execution of the loading action.

[0089] Wherein the pile state is obtained by two times of radar scanning before and after the execution of actions by the digging machine, the pile contour information obtained by the first radar scanning is used as input information for judging and planning the digging and loading trajectory, and the pile state information after digging the pile obtained by the second radar scanning is used to obtain the position of the highest point of the pile to determine whether it is necessary to continue loading the pile; different areas are intercepted after two times of radar scanning to obtain pile state information in different ranges. In the rolling loading process, due to the discrete characteristics of the pile, the extruded excess pile will be accumulated close to the front of the lower car. Before the pile within the original pile contour range is completely loaded, excess pile will always be squeezed out of the bucket due to the discrete characteristics of the pile during the digging process and accumulated close to the lower car chassis. Therefore, in order to avoid repeated operations and prevent the contour information of the excess pile overflowed from the bucket from being transmitted to the planning module for execution, the interception range of scanning before rolling loading is smaller; while the scanning range after loading is larger, and all the obtained pile elevation information in front of the digging machine is used as the basis for judging the pile loading condition. The autonomous loading method can pass Figure 2 is represented.

[0090] After loading is completed, the unloading trajectory at the start and end points of the bucket is determined, and the unloading action is planned and executed. The unloading area can be the site or other vehicles. Based on the estimated material load in the bucket and the size of the unloading area, the unloading position can be adjusted after a certain number of loading and unloading cycles. To determine if the material pile is completely loaded, a comparison is made with the z1 value of the highest point of the material pile to confirm the loading status. If the highest point of the material pile area is higher than a certain value, loading needs to continue according to the aforementioned loading principles; otherwise, the loading of the material pile in the scanned area is considered complete. During the flat scraping and collecting process, due to the discrete nature of the material pile, it will gather close to the front of the vehicle, such as... Figure 3 As shown, the excavating machine's working device cannot easily excavate the material pile close to the front of the chassis without hitting the undercarriage. Therefore, the excavating machine needs to retreat a certain distance to gather and collect the remaining material pile in front.

[0091] The specific actions will be described using a small excavator as an example:

[0092] Based on the contour recognition results, the material pile contour information includes: the three-dimensional coordinates (x1, y1, z1) of the highest point of the material pile in the coordinate system of the rotation center, and the slope θ of the material pile slope (i.e. the slope of the slope where the highest point and the nearest point are located).

[0093] Obtain the basic parameters of the equipment: the maximum working radius R of the excavating machinery based on the boom and stick. max The working radius of the bucket is determined as r based on the bucket capacity, as shown in the schematic diagram. Figure 4 As shown.

[0094] Based on the dimensions of the excavator's working device and the relative position of the highest point of the material pile, the planning basis and key points of the corresponding actions are determined (all actions are performed when the slewing mechanism rotates to the same vertical plane as the working device and the highest point of the material pile, i.e., the y-coordinate of the bucket end is the same as the y-coordinate of the highest point):

[0095] 1. Loading action 1: When the distance between the highest point of the material pile and the center of rotation is within the maximum operating radius of the excavator, and material is fed from behind the highest point, the initial position of the bucket tip is (x1+r, z1). The bucket end feeds material from one bucket working radius distance behind the highest point of the material pile, and the feeding depth reaches the bucket depth to ensure a full bucket. If the highest point is relatively close to the vehicle body, feeding material from in front of the highest point of the material pile will affect the motion planning and execution. Initial loading posture: The back of the bucket forms a certain angle α with the ground, where α is a preset fixed value, as shown in the diagram. Figure 5 As shown.

[0096] 2. Loading action 2: If the bucket cannot dig to the highest point, feeding is performed in front of the highest point. Due to the discrete characteristics of the material pile, the material pile above the feeding position where the bucket end contacts the material pile will slide down, thus this will not affect subsequent digging and loading. The initial position (x, z) of the bucket tip, initial loading posture: the back of the bucket forms a certain angle γ with the slope, γ is a preset fixed value, the schematic diagram is Figure 6 shown.

[0097] Wherein:

[0098]

[0099] x min is the X coordinate value of the closest point of the material pile, θ is the slope gradient of the material pile, R max is the maximum working radius, x is the X coordinate value in the initial position, and z is the Z coordinate value in the initial position.

[0100] 3. Loading action 3: flat scraping and material collecting, H2≤z1<H1, scraping back with the back of the bucket close to the ground, retracting the bucket, the feeding position is behind the highest point of the material pile, and the specific position can be determined by combining the farthest position of the contour with the farther position that the bucket end can reach. If feeding is performed in front of the highest point, the subsequent loading and digging actions will still have extruded or spilled materials due to the discrete characteristics of the material pile, so that secondary material collecting is required subsequently, which repeats the previous material collecting action. The material collecting position is determined by the material pile elevation information scanned by radar and the bucket capacity. On the premise of ensuring the bucket fullness rate, if the material pile is high, the flat scraping distance is relatively short; if the material pile is low, the flat scraping distance is longer. This can ensure that the actions meet the requirements while improving operation efficiency and avoiding redundant and repeated actions, so as to achieve the purposes of energy saving and improving economic benefits. The schematic diagram is shown in Figure 7.

[0101] 4. Loading action 4: gathering and material collecting, H3<z1<H2 and |y2-y3|≥D, when the highest point of the material pile is at a certain height and the distance between the left and right end points is relatively wide, executing loading action 3 cannot meet the bucket fullness rate requirement, and it is necessary to load the remaining material pile multiple times to complete the loading. However, through the gathering action, the materials scattered after the previous loading actions are gathered from both ends. The back of the bucket is parallel to the ground and is at a certain height above the ground (determined by the particle size of the material pile), and the gathering action is executed. The schematic diagram of the end trajectory is Figure 8 shown.

[0102] This technical solution proposes a loading method for autonomous loading operations. It utilizes radar scanning to obtain information such as stockpile elevation, unloading location, and bucket fullness. This information enables the perception of the stockpile, kinematic planning of the digging and loading / unloading actions, and execution of the loading process. The method can adaptively select and plan different digging actions based on different stockpile profiles, plan the trajectory of different loading actions of the excavating machinery, accurately control the bucket tip's entry position and attitude, and control the end-effector trajectory. This ensures that the bucket is fully loaded without excessively damaging the stockpile, reducing unnecessary loading actions and guaranteeing work efficiency. Furthermore, this technical solution also offers the following advantages:

[0103] 1. In harsh working environments and with poor visibility, autonomous operation can greatly reduce manual labor intensity. Using radar scanning as the "eyes" of excavating machinery can prevent manual labor from failing to see or notice obstacles, which could lead to errors in judgment, improper operation, and safety hazards.

[0104] 2. Based on the elevation data of the stockpile obtained by radar scanning, the volume of material can be estimated, which is beneficial for grasping the progress of the project and planning other tasks.

[0105] 3. Based on the material pile elevation information and bucket size obtained from radar scanning, the digging action is adaptively and rationally planned to ensure full bucket capacity, improve operating efficiency, and increase economic benefits.

[0106] This invention also provides a processor configured to execute the control method for excavating machinery according to the above embodiments.

[0107] Figure 9 The diagram schematically illustrates a structural block diagram of a control device for excavating machinery according to an embodiment of the present invention. Figure 9 As shown, in one embodiment, a control device 900 for excavating machinery is provided. The control device 900 may include a data acquisition module 910, a highest point determination module 920, an action type determination module 930, and an action control module 940, wherein:

[0108] The data acquisition module 910 is used to acquire the three-dimensional point cloud data of the material pile.

[0109] The highest point determination module 920 is used to determine the highest point of the material pile based on three-dimensional point cloud data.

[0110] Action type determination module 930 is used to determine the target loading action type of the excavating machinery based on the highest point.

[0111] The motion control module 940 is used to control the excavating machinery to perform loading actions corresponding to the target loading action type.

[0112] The aforementioned control device for excavating machinery acquires three-dimensional point cloud data of the material pile, determines the highest point of the pile based on this data, and then determines the target loading action type for the excavating machinery based on this highest point. This control device controls the excavating machinery to execute the loading action corresponding to the target loading action type. This means that there is a one-to-one correspondence between the material pile characteristics and the loading action type. By executing corresponding loading actions based on the shape characteristics of different material piles, the bucket's fullness rate can be improved, the number of loading operations by the excavating machinery can be reduced, and the loading efficiency of the excavating machinery can be increased.

[0113] In one embodiment, the action type determination module 930 is further configured to: determine the distance between the highest point and the rotation center of the excavator when the height value corresponding to the highest point is greater than or equal to a first preset height threshold; determine the target loading action type as feeding behind the highest point when the distance is less than or equal to the maximum operating radius of the excavator; and determine the target loading action type as feeding in front of the highest point when the distance is greater than the maximum operating radius of the excavator.

[0114] In one embodiment, the motion control module 940 is further configured to: determine a first target initial position of the bucket based on the highest point and the radius of the bucket of the excavator when the target loading action type is determined to be feeding material after the highest point; wherein the x-coordinate of the first target initial position is the sum of the x-coordinate of the highest point and the radius of the bucket; the y-coordinate and z-coordinate of the first target initial position are the same as the y-coordinate and height of the highest point, respectively; the x-coordinate is a value on the coordinate axis along the front-back direction of the excavator; the y-coordinate is a value on the coordinate axis along the left-right direction of the excavator; and the z-coordinate is a value on the coordinate axis along the height direction; and control the bucket to perform the loading action based on the first target initial position.

[0115] In one embodiment, the motion control module 940 is further configured to: determine the nearest point of the material pile based on three-dimensional point cloud data when the target loading action type is determined to be material feeding in front of the highest point; obtain the slope of the slope where the highest point and the nearest point are located; and determine the second target initial position of the excavator bucket based on the slope, the maximum operating radius, the highest point, and the nearest point, wherein the y-coordinate value of the second target initial position is the same as the y-coordinate value of the highest point, and the x-coordinate value and z-coordinate value of the second target initial position are determined according to the following formula:

[0116]

[0117]

[0118] Where x is the x-coordinate of the initial position of the second target, z is the z-coordinate of the initial position of the second target, θ is the slope, and R max For the maximum operating radius, x min The x-coordinate value is the value along the front-to-back direction of the excavator, the y-coordinate value is the value along the left-to-right direction of the excavator, and the z-coordinate value is the value along the height direction. The bucket is controlled to perform loading actions based on the initial position of the second target.

[0119] In one embodiment, the motion control module 940 is further configured to: control the initial loading posture of the bucket to a first target initial loading posture, wherein the first target initial loading posture includes the angle between the back of the bucket and the horizontal plane being within a first preset angle range.

[0120] In one embodiment, the motion control module 940 is further configured to: control the initial loading posture of the bucket to a second target initial loading posture, wherein the second target initial loading posture includes the angle between the back of the bucket and the inclined plane being within a second preset angle range.

[0121] In one embodiment, the action type determination module 930 is further configured to: determine the target loading action type as a flat scraping and collecting action when the height value corresponding to the highest point is greater than or equal to a second preset height threshold and less than a first preset height threshold.

[0122] In one embodiment, the motion control module 940 is further configured to: determine the target flat scraping distance of the excavator's bucket based on the height value according to the pre-stored correspondence between the material pile height and the flat scraping collection distance; and control the bucket to perform the flat scraping collection action according to the target flat scraping collection distance.

[0123] In one embodiment, the action type determination module 930 is further configured to: determine the horizontal distance between the leftmost and rightmost points of the material pile based on the three-dimensional point cloud data when the height value corresponding to the highest point is less than the second preset height threshold and greater than the third preset height threshold; and determine the target loading action type as a gathering and receiving action when the horizontal distance is greater than or equal to the preset horizontal distance threshold.

[0124] In one embodiment, the action type determination module 930 is further configured to: control the excavator to retreat when the height value is less than or equal to a third preset height threshold and / or the horizontal distance is less than a preset horizontal distance threshold, and return to the step of acquiring the three-dimensional point cloud data of the material pile, until the number of times the excavator retreats reaches a preset number of retreats threshold and the loading action is stopped.

[0125] In one embodiment, the action type determination module 930 is further configured to: after the excavator completes the loading action, reacquire the three-dimensional point cloud data of the material pile, and determine the updated highest point based on the reacquired three-dimensional point cloud data; if the height value of the updated highest point is determined to be less than a second preset height threshold, control the excavator to retreat and return to the step of acquiring the three-dimensional point cloud data of the material pile according to the above embodiment, until the number of retreats of the excavator reaches a preset retreat number threshold and the loading action is stopped; if the height value of the updated highest point is determined to be greater than or equal to the second preset height threshold, return to the step of acquiring the three-dimensional point cloud data of the material pile according to the above embodiment.

[0126] This invention also provides an excavating machine, including: a processor according to the above embodiments.

[0127] This invention also provides a machine-readable storage medium storing a program or instructions that, when executed by a processor, implement the control method for excavating machinery according to the above embodiments.

[0128] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0129] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0130] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0131] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0132] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0133] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0134] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory 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-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0135] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0136] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for excavating machinery, characterized in that, The control method includes: Acquire 3D point cloud data of the material pile; The highest point of the material pile is determined based on the three-dimensional point cloud data; The target loading action type of the excavating machinery is determined based on the highest point; Control the excavating machinery to perform the loading action corresponding to the target loading action type; The step of determining the target loading action type of the excavating machinery based on the highest point includes: If the height value corresponding to the highest point is greater than or equal to a first preset height threshold, the distance between the highest point and the rotation center of the excavating machine is determined. If the distance is less than or equal to the maximum operating radius of the excavator, the target loading action type is determined to be feeding material after the highest point; If the distance is greater than the maximum operating radius of the excavator, the target loading action type is determined to be feeding material in front of the highest point.

2. The control method according to claim 1, characterized in that, The control of the excavating machinery to perform the loading action corresponding to the target loading action type includes: When the target loading action type is determined to be material feeding behind the highest point, the first target initial position of the bucket is determined based on the highest point and the radius of the bucket of the excavator. The x-coordinate of the first target initial position is the sum of the x-coordinate of the highest point and the radius of the bucket. The y-coordinate and z-coordinate of the first target initial position are the same as the y-coordinate of the highest point and the height value, respectively. The x-coordinate is the value on the coordinate axis along the front-back direction of the excavator. The y-coordinate is the value on the coordinate axis along the left-right direction of the excavator. The z-coordinate is the value on the coordinate axis along the height direction. The bucket is controlled to perform loading actions based on the initial position of the first target.

3. The control method according to claim 1, characterized in that, The control of the excavating machinery to perform the loading action corresponding to the target loading action type includes: If the target loading action type is determined to be feeding material in front of the highest point, the nearest point of the material pile is determined based on the three-dimensional point cloud data; Obtain the slope of the slope where the highest point and the nearest point are located; The initial second target position of the excavator bucket is determined based on the slope, the maximum operating radius, the highest point, and the nearest point, wherein the y-coordinate value of the initial second target position is the same as the y-coordinate value of the highest point, and the x-coordinate and z-coordinate values ​​of the initial second target position are determined according to the following formula: in, The x-coordinate value of the initial position of the second target. Let z be the initial z-coordinate of the second target. The slope is mentioned. The maximum operating radius is... The x-coordinate value is the value on the coordinate axis along the front-back direction of the excavator, the y-coordinate value is the value on the coordinate axis along the left-right direction of the excavator, and the z-coordinate value is the value on the coordinate axis along the height direction. The bucket is controlled to perform loading actions based on the initial position of the second target.

4. The control method according to claim 2, characterized in that, Also includes: The initial loading posture of the bucket is controlled to be a first target initial loading posture, wherein the first target initial loading posture includes the angle between the back of the bucket and the horizontal plane being within a first preset angle range.

5. The control method according to claim 3, characterized in that, Also includes: The initial loading posture of the bucket is controlled to be a second target initial loading posture, wherein the second target initial loading posture includes the angle between the back of the bucket and the inclined plane being within a second preset angle range.

6. The control method according to claim 1, characterized in that, The process of determining the target loading action type of the excavating machinery based on the highest point includes: If the height value corresponding to the highest point is greater than or equal to the second preset height threshold and less than the first preset height threshold, the target loading action type is determined to be a flat scraping and collecting action.

7. The control method according to claim 6, characterized in that, The control of the excavating machinery to perform the loading action corresponding to the target loading action type includes: Based on the pre-stored correspondence between the height of the material pile and the horizontal scraping and collecting distance, the target horizontal scraping and collecting distance of the excavating machinery's bucket is determined according to the height value; The bucket is controlled to perform a flat scraping and collecting action based on the target flat scraping and collecting distance.

8. The control method according to claim 1, characterized in that, The process of determining the target loading action type of the excavating machinery based on the highest point includes: If the height value corresponding to the highest point is less than the second preset height threshold and greater than the third preset height threshold, the horizontal distance between the leftmost and rightmost points of the material pile is determined based on the three-dimensional point cloud data. If the horizontal distance is greater than or equal to a preset horizontal distance threshold, the target loading action type is determined to be a material gathering and receiving action.

9. The control method according to claim 8, characterized in that, Also includes: If the height value is less than or equal to the third preset height threshold, and / or the horizontal distance is less than the preset horizontal distance threshold, the excavator is controlled to retreat and return to the step of acquiring the three-dimensional point cloud data of the material pile, until the number of times the excavator retreats reaches the preset number of retreats threshold and the loading action is stopped.

10. The control method according to claim 1, characterized in that, Also includes: After the excavating machinery completes the loading action, the three-dimensional point cloud data of the material pile is reacquired, and the updated highest point is determined based on the reacquired three-dimensional point cloud data. If the height value of the updated highest point is determined to be less than the second preset height threshold, the excavator is controlled to retreat and return to the step of acquiring the three-dimensional point cloud data of the material pile as described in claim 1, until the number of times the excavator retreats reaches the preset number of retreats threshold and the loading action is stopped. If the height value of the updated highest point is determined to be greater than or equal to the second preset height threshold, the process returns to the step of obtaining the three-dimensional point cloud data of the material pile as described in claim 1.

11. A processor, characterized in that, It is configured to perform the control method for excavating machinery according to any one of claims 1 to 10.

12. An excavating machine, characterized in that, include: The processor according to claim 11.

13. A machine-readable storage medium on which a program or instructions are stored, characterized in that, When the program or the instructions are executed by the processor, they implement the control method for excavating machinery according to any one of claims 1 to 10.

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