Tracked bucket wheel stacker-reclaimer material reclaiming path planning method, equipment and storage medium

Abstract

This invention discloses a method, equipment, and storage medium for planning the material handling path of a tracked bucket wheel stacker-reclaimer. The method includes acquiring point cloud data, height, and number of layers of the working material pile, and acquiring the position of the bucket wheel stacker-reclaimer as the initial working position; determining the layer to be handled and the range of working height, and calculating the pitch angle range; setting the pitch angle for the first outer cycle based on the pitch angle range; obtaining an enclosing curve based on the point cloud data of the layer to be handled; determining the starting and ending points of the operation based on the enclosing curve, the position of the bucket wheel stacker-reclaimer, and the cantilever length; determining the material handling path at different working positions of the bucket wheel stacker-reclaimer at a certain pitch angle; and changing the pitch angle to determine the material handling path at different working positions at different pitch angles. The material handling path obtained by this invention significantly reduces the idling time of the tracked bucket wheel stacker-reclaimer, reduces power loss, and has strong adaptability to the field environment.

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 planning the material handling path of a tracked bucket wheel stacker-reclaimer based on a depth camera. Background Technology

[0002] In steel mills and thermal power plants, coal is frequently used as a raw material, and bucket wheel stacker-reclaimers (i.e., bucket wheel excavators) are commonly used for material handling. Currently, most coal yards use either manually operated or automated bucket wheel excavators. Manual operation of bucket wheel excavators is time-consuming, labor-intensive, and inefficient, with severe dust and noise pollution in the working environment, which is harmful to human health. While some current automated bucket wheel excavators perform timed, fixed-path material handling through simple programming, these excavators can only perform simple, repetitive material handling actions. They cannot adaptively plan paths, solve key problems such as optimal material handling paths and optimal storage relocation paths, and have extremely poor on-site adaptability. Because they cannot effectively identify non-material piles such as stockpiles and vehicles, temporary manual intervention is often required. While this addresses the high labor intensity of manual operation to some extent, it lacks 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 material reclaiming path of a tracked bucket wheel stacker-reclaimer, so as to solve the problem that the current bucket wheel stacker cannot plan the material reclaiming path autonomously, resulting in long idle time and poor on-site adaptability of the material reclaiming operation path.

[0004] This invention solves the above-mentioned technical problems through the following technical solution: a method for planning the material reclaiming path of a tracked bucket wheel stacker-reclaimer, comprising the following steps:

[0005] Step 1: Obtain the point cloud data, height, and number of layers of the working material pile, and obtain the position of the bucket wheel stacker-reclaimer as the initial working position;

[0006] Step 2: Determine the material layer to be removed and the operating height range based on the height and number of layers of the working material pile; calculate the pitch angle range of the bucket wheel stacker-reclaimer based on the operating height range and the position of the bucket wheel stacker-reclaimer.

[0007] Step 3: Set the pitch angle δ of the bucket wheel stacker-reclaimer. i =β-i×Δδ, where β is the maximum value of the pitch angle range when the working material pile is unobstructed, Δδ is the change in pitch angle, i is the number of pitch angle iterations, and the initial value of i is 1;

[0008] Step 4: Obtain the enclosing curve of the layer to be removed based on the point cloud data of the layer to be removed;

[0009] Step 5: Determine the start and end points of the operation based on the encirclement curve, the position of the bucket wheel stacker-reclaimer, and the cantilever length;

[0010] Step 6: Determine the material handling path of the bucket wheel stacker-reclaimer based on the pitch angle, the starting point of the operation, and the ending point of the operation. The bucket wheel stacker-reclaimer then performs the material handling operation according to the material handling path.

[0011] Step 7: When the distance between the start and end points of the operation is greater than a set threshold, the bucket wheel stacker-reclaimer advances a set distance and updates the point cloud data of the layer to be reclaimed, then proceeds to step 4;

[0012] When the distance between the start and end points of the operation is less than or equal to the set threshold, or the bucket wheel stacker-reclaimer can no longer move forward, or the work pile is obstructed, the bucket wheel stacker-reclaimer returns to the initial working position and proceeds to step 8.

[0013] Step 8: Increment the iteration number of the pitch angle by 1, and calculate the pitch angle δ of the bucket wheel stacker-reclaimer. i =β-i×Δδ, determine the pitch angle δ i If the pitch angle is greater than or equal to the minimum value of the pitch angle range, then reacquire the point cloud data of the work material pile and proceed to step 4; otherwise, the material handling operation is completed.

[0014] Furthermore, in step 1, the specific implementation process for obtaining the point cloud data, height, and number of layers of the work stockpile includes:

[0015] Obtain the plan view and depth map of the work stockpile;

[0016] Point cloud data of the working material pile is obtained based on the plan view and depth map;

[0017] The height of the work material pile is determined based on the point cloud data of the work material pile, and the work material pile is divided into layers to obtain the number of layers.

[0018] Furthermore, in step 2, the specific implementation process of calculating the pitch angle range of the bucket wheel stacker-reclaimer based on the operating height range and the position of the bucket wheel stacker-reclaimer includes:

[0019] When the working material pile is unobstructed, the highest point of the working material pile is determined based on the point cloud data of the working material pile. The pitch angle range of the bucket wheel stacker-reclaimer is calculated based on the highest point of the working material pile, the position of the bucket wheel stacker-reclaimer, and the working height range.

[0020] When the material pile is obstructed, the point cloud data of the obstruction is acquired, the highest point of the obstruction is determined based on the point cloud data, and the pitch angle δ0 is calculated based on the position of the bucket wheel stacker-reclaimer and the highest point of the obstruction. When δ0 > α, the pitch angle range of the bucket wheel stacker-reclaimer is δ0 ~ β; when δ0 ≤ α, the pitch angle range of the bucket wheel stacker-reclaimer is α ~ β.

[0021] Where α is the minimum value of the pitch angle range of the bucket wheel stacker-reclaimer when the working material pile is unobstructed.

[0022] Furthermore, in step 5, the specific implementation process of determining the start and end points of the operation based on the encirclement curve, the position of the bucket wheel stacker-reclaimer, and the cantilever length includes:

[0023] Draw a circle with the position of the bucket wheel stacker-reclaimer as the center and the cantilever length as the radius;

[0024] Of the two intersections of the enclosing curve and the circle, the intersection closer to the bucket wheel stacker-reclaimer is the starting point of the operation, and the intersection farther from the bucket wheel stacker-reclaimer is the ending point of the operation.

[0025] Furthermore, prior to step 1, the method further includes a step of determining the work stockpile, the specific implementation of which includes:

[0026] 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;

[0027] The working stockpile is determined based on the number of layers in each stockpile and the distance between the bucket wheel stacker-reclaimer and each stockpile.

[0028] Furthermore, the specific implementation process for determining the working stockpile based on the number of layers in each stockpile and the distance between the bucket wheel stacker-reclaimer and each stockpile is as follows:

[0029] Select the stockpile with the highest number of layers as the working stockpile;

[0030] When there are two or more material piles with the highest number of layers, the material pile that is closest to the bucket wheel stacker-reclaimer and has the highest number of layers shall be selected as the working material pile.

[0031] Furthermore, between the step of determining the working stockpile and step 1, the method also includes a transfer path planning step for transferring the tracked bucket wheel stacker-reclaimer to the working stockpile, the specific implementation process of which includes:

[0032] Acquire the first point cloud data of the working material pile, and acquire the second point cloud data of the material pile that the bucket wheel stacker-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 stacker-reclaimer.

[0033] Each point in the first point cloud data and the second point cloud data is converted 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 center of the material yard as the origin, the centerline of the material yard as the X-axis, the Y-axis perpendicular to the centerline of the material yard and parallel to the horizontal plane as the Y-axis, and the Z-axis perpendicular to the XY plane as the Z-axis;

[0034] Flatten the first set of points from a top-down angle to obtain the material pile enclosure curve;

[0035] Identify all protrusions on the side closest to the centerline of the material yard from the enclosing curve of the material pile, and store all protrusions in a queue according to the distance between the protrusion and the bucket wheel stacker-reclaimer; wherein, the first protrusion in the queue has the smallest distance between it and the bucket wheel stacker-reclaimer;

[0036] Taking the position of the bucket wheel stacker-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 based on the starting point and the ending point.

[0037] Taking the end point of the first transfer path as the starting point, when the Y coordinate value of the second convex point is less than the Y coordinate value of the starting point, the second convex point is taken as the end point; when the Y coordinate value of the second 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 second convex point and the Y coordinate value of the starting point is taken as the end point, and the second transfer path is determined based on the starting point and the end point.

[0038] Similarly, taking the end point of the Kth transfer path as the starting point, when the Y coordinate value of the (K+1)th convex point is less than the Y coordinate value of the starting point, the (K+1)th convex point is taken as the end point; when the Y coordinate value of the (K+1)th 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 (K+1)th convex point and the Y coordinate value of the starting point is taken as the end point, and the (K+1)th transfer path is determined based on the starting point and the ending point.

[0039] Based on the same concept, the present invention also provides an electronic device, which is communicatively connected to a tracked bucket wheel stacker-reclaimer, the electronic device comprising:

[0040] Memory, used to store computer programs;

[0041] A processor is used to execute the computer program to implement the material reclaiming path planning method for the tracked bucket wheel stacker-reclaimer as described above.

[0042] 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 material reclaiming path planning method for a tracked bucket wheel stacker-reclaimer as described above.

[0043] Beneficial effects

[0044] Compared with the prior art, the advantages of the present invention are as follows:

[0045] This invention can acquire point cloud data of the working material pile in real time and plan the material handling path of the bucket wheel stacker-reclaimer based on the parameters of the working material pile. The material handling path is then transmitted to the bucket wheel stacker-reclaimer, which can then perform material handling operations according to the planned path. This invention requires no manual intervention, possesses autonomous working capabilities, reduces the operating time of operators in harsh environments such as high temperature, strong noise, and dust, and lowers the risk of injury to operators from such environments. By using autonomously planned material handling paths to replace manual labor, this invention can achieve uninterrupted material handling operations around the clock, greatly improving material handling efficiency. The material handling path planned by this invention significantly reduces the idle time of the bucket wheel stacker-reclaimer, minimizes the power consumption / efficiency ratio during the material handling process, reduces power loss, and has strong adaptability to the field environment. Attached Figure Description

[0046] 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.

[0047] Figure 1 This is a flowchart of the material reclaiming path planning method for a tracked bucket wheel stacker-reclaimer in an embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of the convex points during the transfer path planning in an embodiment of the present invention;

[0049] 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;

[0050] Figure 4 This is a schematic diagram illustrating the calculation of the pitch angle range when there is obstruction and the obstruction has an impact in an embodiment of the present invention;

[0051] Figure 5 This is a schematic diagram illustrating the calculation of the pitch angle range in an embodiment of the present invention when there is obstruction but the obstruction has no effect;

[0052] Figure 6 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

[0053] 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.

[0054] 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.

[0055] The method of this invention is applicable to tracked bucket wheel stacker-reclaimers; in this embodiment, "bucket wheel stacker-reclaimer" refers to a tracked bucket wheel stacker-reclaimer. Figure 1 As shown in the figure, the material reclaiming path planning method for a tracked bucket wheel stacker-reclaimer provided in this embodiment includes the following steps:

[0056] Step 1: Determine the work stockpile.

[0057] 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 stacker reclaimer and each material pile.

[0058] 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 at 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 and the material reclaiming path for the tracked bucket wheel stacker-reclaimer, and transmits the results back to the stacker-reclaimer so that it can switch piles based on the transfer path plan and reclaim materials based on the material reclaiming path plan.

[0059] 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.

[0060] 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.

[0061] 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 tracked bucket wheel stacker-reclaimer is selected as the working pile. A positioning module is installed on the tracked bucket wheel stacker-reclaimer to obtain its position. The position of the tracked bucket wheel stacker-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 tracked bucket wheel stacker-reclaimer is determined based on the position of the tracked bucket wheel stacker-reclaimer and the position of each material pile, thereby determining the material pile closest to the tracked bucket wheel stacker-reclaimer.

[0062] In this embodiment, the point cloud data is based on the camera coordinate system, and the position of the tracked bucket wheel stacker-reclaimer is based on the coordinate system corresponding to the positioning module. Both the point cloud data and the position of the tracked bucket wheel stacker-reclaimer are transformed to the world coordinate system, and then the distance between the material pile and the tracked bucket wheel stacker-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 center of the material yard as the origin, the centerline of the material yard as the X-axis, the Y-axis perpendicular to the centerline of the material yard and parallel to the horizontal plane as the Y-axis, and the Z-axis perpendicular to the XY plane as the Z-axis.

[0063] Step 2: Plan the transfer path for the tracked bucket wheel stacker-reclaimer to the working stockpile.

[0064] In this embodiment, the transfer path planning process for transferring the tracked bucket wheel stacker-reclaimer to the working stockpile is as follows:

[0065] Step 2.1: Obtain the first point cloud data of the working stockpile, and obtain the second point cloud data of the stockpile that the tracked bucket wheel stacker-reclaimer needs to pass through between the working stockpile and the current stockpile.

[0066] 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 tracked bucket wheel stacker-reclaimer has already completed or the material pile at the current location of the tracked bucket wheel stacker-reclaimer. The tracked bucket wheel stacker-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.

[0067] Step 2.2: 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.

[0068] Step 2.3: Flatten the first set of points from a top-down angle to obtain the enclosing curve of the material pile.

[0069] 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 tracked bucket wheel stacker-reclaimer between the working material pile and the current material pile needs to pass through. The Z coordinate value of the points on the material pile enclosure curve is 0.

[0070] Step 2.4: Find all the protrusions on the side closest to the centerline of the material yard from the confinement curve of the material pile, and store all the protrusions in the queue according to their distance from the tracked bucket wheel stacker-reclaimer. The first protrusion in the queue is closest to the tracked bucket wheel stacker-reclaimer.

[0071] like Figure 2 As shown, the tracked bucket wheel stacker-reclaimer needs to pass through two stockpiles. In addition to the working stockpiles, it is necessary to find the protrusions Q1 to Q6 on the side of the stockpiles closest to the center line of the stockyard.

[0072] Taking the material pile 1 as an example, the specific implementation process of finding all protrusions on the side closest to the centerline of the material yard in this embodiment includes:

[0073] Step 2.51: Find the two points X1 and X2 with the largest and smallest X coordinate values ​​on the enclosing curve of the material pile 1;

[0074] Step 2.52: 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;

[0075] Step 2.53: Perform univariate nonlinear fitting on the extracted discrete points to obtain a univariate nonlinear regression model;

[0076] Step 2.54: 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.

[0077] Similarly, the bumps on the material pile 2 that has been passed through and the material pile in operation can be identified.

[0078] Step 2.6: Starting from the position (Sx, Sy) of the tracked bucket wheel stacker-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. The first transfer path L1 is determined based on the starting point and the endpoint.

[0079] Step 2.7: 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;

[0080] Step 2.8: Determine if there are any bumps in the queue. If not, output the transfer path planning result; otherwise, repeat step 2.7, 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 .

[0081] 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 tracked bucket wheel stacker-reclaimer to the working stockpile are transmitted to the tracked bucket wheel stacker-reclaimer, so that the tracked bucket wheel stacker-reclaimer can transfer according to the transfer path planning results and reach the working stockpile.

[0082] Step 3: Obtain the point cloud data, height, and number of layers of the work stockpile, and obtain the position of the bucket wheel stacker-reclaimer, using the position of the bucket wheel stacker-reclaimer as the initial work position.

[0083] 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.

[0084] In step 3, the position of the tracked bucket wheel stacker-reclaimer refers to the position where the tracked bucket wheel stacker-reclaimer has been moved to the working material pile according to the transfer path planning result.

[0085] Step 4: Determine the material layer to be removed and the operating height range based on the height and number of layers of the working material pile. Calculate the pitch angle range of the tracked bucket wheel stacker-reclaimer based on the operating height range and the position of the tracked bucket wheel stacker-reclaimer.

[0086] 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.

[0087] The calculation of the pitch angle range of a tracked bucket wheel stacker-reclaimer involves two cases:

[0088] First, there is no obstruction between the working material pile and the tracked bucket wheel stacker-reclaimer (such as other material piles); second, there is an obstruction between the working material pile and the material pile.

[0089] like Figure 3 As shown, when the working material pile is unobstructed, the position of the tracked bucket wheel stacker-reclaimer (in this embodiment, the position of the tracked bucket wheel stacker-reclaimer refers to the position of the tracked bucket wheel stacker-reclaimer's moving mechanism) is set at point O, H1 is the highest point of the working material pile, and H2 is the center point of the bottom surface of the Pth layer (i.e., the layer to be reclaimed). When the position of the tracked bucket wheel stacker-reclaimer and the point cloud data of the working material pile are in the same coordinate system (i.e., the world coordinate system), the distances between point O and point H1, and between point O and point H2 are calculated. Then, the maximum pitch angle β and the minimum pitch angle α of the tracked bucket wheel stacker-reclaimer are calculated. The maximum pitch angle β refers to the angle between the line OH1 and the horizontal plane, and the minimum pitch angle α refers to the angle between the line OH2 and the horizontal plane.

[0090] like Figure 4 and 5 As shown, when the working material pile is obstructed, a depth camera is used to acquire point cloud data of the obstruction. The highest point of the obstruction is determined based on this data, denoted as point O'. When the position of the tracked bucket wheel stacker-reclaimer, the point cloud data of the obstruction, and the point cloud data of the working material pile are in the same coordinate system, the distance between point O and point O' is calculated, and then the pitch angle δ0 is calculated. If δ0 > α, it indicates that the obstruction affects the tracked bucket wheel stacker-reclaimer's ability to reclaim material from the P-th layer (e.g., ...). Figure 4 As shown), the pitch angle range of the tracked bucket wheel stacker-reclaimer is δ0~β; if δ0≤α, it indicates that the obstruction does not affect the tracked bucket wheel stacker-reclaimer's ability to reclaim material from the P-th layer (e.g., Figure 5 As shown, the pitch angle range of the tracked bucket wheel stacker-reclaimer is α to β.

[0091] Point cloud data acquired by depth cameras is based on the camera coordinate system. When calculating the pitch angle range, it is necessary to convert the point cloud data in the camera coordinate system into point cloud data in the world coordinate system, and convert the position of the tracked bucket wheel stacker-reclaimer into the position in the world coordinate system.

[0092] Step 5: Set the pitch angle δ of the tracked bucket wheel stacker-reclaimer.i =β-i×Δδ, where β is the maximum value of the pitch angle range when the working material pile is unobstructed, Δδ is the change in pitch angle, i is the number of pitch angle iterations, and the initial value of i is 1.

[0093] The material handling path planning involves two cycles: an outer cycle and an inner cycle. The outer cycle involves changing the pitch angle within the pitch angle range of the tracked bucket wheel stacker-reclaimer. The inner cycle involves changing the different positions (i.e., working positions) of the tracked bucket wheel stacker-reclaimer at each pitch angle. The tracked bucket wheel stacker-reclaimer changes its working position by moving forward. The tracked bucket wheel stacker-reclaimer retrieves material from the highest point downwards. Therefore, the initial pitch angle δ1 of the tracked bucket wheel stacker-reclaimer is β-1×Δδ (i.e., the pitch angle during the first outer cycle). The pitch angle δ2 during the second outer cycle is β-2×Δδ, and so on. The pitch angle δ1 during the i-th outer cycle is... i =β-i×Δδ, until the pitch angle δ of the tracked bucket wheel stacker-reclaimer. i The minimum value of the pitch angle range is less than the minimum value of the pitch angle range. When the working material pile is unobstructed, the minimum value of the pitch angle range is α; when the working material pile is obstructed, the minimum value of the pitch angle range is δ0.

[0094] Step 6: Obtain the enclosing curve of the material to be removed based on the point cloud data of the material to be removed.

[0095] 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 from a top-down angle to obtain the enclosing curve of the material to be removed (i.e. the curve formed by the edges).

[0096] Step 7: Determine the start and end points of the operation based on the encirclement curve, the position of the bucket wheel stacker-reclaimer, and the cantilever length L.

[0097] Once the encirclement curve is determined, draw a circle with the position O of the tracked bucket wheel stacker-reclaimer as the center and the cantilever length L as the radius. Of the two intersection points A and B between the encirclement curve and the circle, the intersection point closer to the tracked bucket wheel stacker-reclaimer is the starting point of the operation, and the intersection point farther from the tracked bucket wheel stacker-reclaimer is the ending point of the operation. Figure 6 As shown.

[0098] Step 8: Determine the material handling path for one round of the tracked bucket wheel stacker-reclaimer based on the pitch angle, the starting point of the operation, and the ending point of the operation. Send the material handling path for one round to the bucket wheel stacker-reclaimer, which will then complete the material handling for that round.

[0099] During each material reclaiming operation, the operating radius is the cantilever length L of the bucket wheel stacker-reclaimer.

[0100] Step 9: Inner loop judgment.

[0101] The distance between the start and end points of the operation determines whether to proceed to the next inner loop. If the distance exceeds a set threshold, it indicates that material handling at the corresponding pitch angle is incomplete, and the next inner loop can proceed. The tracked bucket wheel stacker-reclaimer moves forward a set distance Δs to change its operating position, updates the point cloud data of the layer to be handled, and then proceeds to step 6. In this embodiment, the set distance Δs is generally no greater than 0.95 times the height of the bucket wheel stacker-reclaimer.

[0102] When the distance between the start and end points of the operation is less than or equal to the set threshold, or the tracked bucket wheel stacker-reclaimer can no longer advance the set distance, or the working material pile is obstructed, the current inner cycle ends, and it is necessary to proceed to step 10 to change the pitch angle and return to the initial working position in order to carry out the inner cycle at the next pitch angle.

[0103] In this embodiment, the threshold is set to 0-1m.

[0104] Step 10: Increment the pitch angle iteration count by 1 (i.e., i = i + 1), and calculate the pitch angle δ of the bucket wheel stacker-reclaimer. i =β-i×Δδ (subtract Δδ from the original pitch angle), determine the pitch angle δ i If the pitch angle is greater than or equal to the minimum value of the pitch angle range, then reacquire the point cloud data of the work material pile and proceed to step 6; otherwise, the material handling operation is completed.

[0105] Based on the same concept, embodiments of the present invention also provide an electronic device that is communicatively connected to a tracked bucket wheel stacker-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 tracked bucket wheel stacker-reclaimer material reclaiming path planning method as described above.

[0106] 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.

[0107] 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.

[0108] 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 material reclaiming path planning method for a tracked bucket wheel stacker-reclaimer as described above.

[0109] 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.

[0110] 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 a material taking path of a crawler-type bucket wheel stacker-reclaimer, characterized in that, The method comprises the following steps: Step 1: obtaining point cloud data, height and layer number of a working stockpile, and obtaining a position of a bucket wheel stacker-reclaimer as an initial working position; Step 2: determining a layer to be taken and a working height range according to the height and layer number of the working stockpile, and calculating a range of a luffing angle of the bucket wheel stacker-reclaimer according to the working height range and the position of the bucket wheel stacker-reclaimer; Step 3: setting the luffing angle δ of the bucket wheel stacker-reclaimer i = β - i x Δδ, wherein β is the maximum value of the luffing angle range when the working stockpile is not blocked, Δδ is the change amount of the luffing angle, i is the iteration number of the luffing angle, and the initial value of i is 1. Step 4: obtaining a closed curve of the layer to be taken according to the point cloud data of the layer to be taken; Step 5: determining a working starting point and a working ending point according to the closed curve, the position of the bucket wheel stacker-reclaimer and a boom length; Step 6: determining a material taking path of the bucket wheel stacker-reclaimer according to the luffing angle, the working starting point and the working ending point, and the bucket wheel stacker-reclaimer taking material according to the material taking path; Step 7: when a distance between the working starting point and the working ending point is greater than a set threshold, the bucket wheel stacker-reclaimer advances by a set distance, and the point cloud data of the layer to be taken is updated, and the step 4 is entered; when the distance between the working starting point and the working ending point is less than or equal to the set threshold, or the bucket wheel stacker-reclaimer cannot advance any more, or the working stockpile is blocked, the bucket wheel stacker-reclaimer retreats to the initial working position, and the step 8 is entered; Step 8: the iteration number of the luffing angle is added by 1, and the luffing angle δ of the bucket wheel stacker-reclaimer is calculated i = β - i × Δδ, and it is judged whether the luffing angle δ is greater than or equal to the minimum value of the luffing angle range, if yes, the point cloud data of the working pile is re-acquired, and the process goes to step 4; if no, the taking work is completed. i ​ 2. The method according to claim 1, characterized in that, In the step 1, a specific implementation process of obtaining the point cloud data, the height and the layer number of the working stockpile comprises: obtaining a plan view and a depth view of the working stockpile; obtaining the point cloud data of the working stockpile according to the plan view and the depth view; determining the height of the working stockpile according to the point cloud data of the working stockpile, and layering the working stockpile to obtain the layer number.

3. The method of claim 1, wherein, In the step 2, a specific implementation process of calculating the range of the luffing angle of the bucket wheel stacker-reclaimer according to the working height range and the position of the bucket wheel stacker-reclaimer comprises: when the working stockpile is not blocked, determining a highest point position of the working stockpile according to the point cloud data of the working stockpile, and calculating the range of the luffing angle of the bucket wheel stacker-reclaimer according to the highest point position of the working stockpile, the position of the bucket wheel stacker-reclaimer and the working height range; when the working stockpile is blocked, obtaining point cloud data of a blocking object, determining a highest point position of the blocking object according to the point cloud data of the blocking object, and calculating a luffing angle δ0 according to the position of the bucket wheel stacker-reclaimer and the highest point position of the blocking object; when δ0 > α, the range of the luffing angle of the bucket wheel stacker-reclaimer is δ0 ~ β; when δ0 ≤ α, the range of the luffing angle of the bucket wheel stacker-reclaimer is α ~ β; wherein, α is a minimum value of the range of the luffing angle of the bucket wheel stacker-reclaimer when the working stockpile is not blocked.

4. The method of claim 1, wherein, In the step 5, a specific implementation process of determining the working starting point and the working ending point according to the closed curve, the position of the bucket wheel stacker-reclaimer and the boom length comprises: drawing a circle with the position of the bucket wheel stacker-reclaimer as a center and the boom length as a radius; in two intersection points of the closed curve and the circle, a closer intersection point to the bucket wheel stacker-reclaimer is the working starting point, and a farther intersection point to the bucket wheel stacker-reclaimer is the working ending point.

5. The method according to any one of claims 1 to 4, characterized in that, Before the step 1, the method further comprises a step of determining a working stockpile, and a specific implementation process of the step comprises: obtaining point cloud data of each stockpile in a working site, and determining layer numbers of the stockpiles according to the point cloud data of the stockpiles; The working stockpile is determined according to the number of layers of each stockpile and the distance between the bucket wheel stacker-reclaimer and each stockpile.

6. The method according to claim 5, characterized in that, The specific implementation process of determining the working stockpile according to the number of layers of each stockpile and the distance between the bucket wheel stacker-reclaimer and each stockpile is as follows: The stockpile with the highest number of layers is selected as the working stockpile; When there are two or more stockpiles with the highest number of layers, the stockpile with the highest number of layers and closest to the bucket wheel stacker-reclaimer is selected as the working stockpile.

7. The method of claim 5, wherein, Between the step of determining the working stockpile and the step 1, the method further includes a path planning step of transferring the bucket wheel stacker-reclaimer to the working stockpile, and the specific implementation process includes: Obtaining first point cloud data of the working stockpile and second point cloud data of stockpiles required to be passed through by the bucket wheel stacker-reclaimer between the working stockpile and the current stockpile; wherein the current stockpile refers to the stockpile at the current position of the bucket wheel stacker-reclaimer; Converting each point in the first point cloud data and the second point cloud data into a point in a world coordinate system to obtain a first point set; wherein the world coordinate system is a three-dimensional coordinate system with the center of the stockyard as the origin, the center line of the stockyard as the X axis, the vertical line to the center line of the stockyard and parallel to the horizontal plane as the Y axis, and the vertical line to the XY plane as the Z axis; Flattening the first point set at a top-down angle to obtain a stockpile enclosing curve; Finding all convex points on the side close to the center line of the stockyard from the stockpile enclosing curve, and storing all convex points in a queue according to the distance between the convex points and the bucket wheel stacker-reclaimer; wherein the first convex point in the queue has the smallest distance from the bucket wheel stacker-reclaimer; Taking the position of the bucket wheel stacker-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, taking the first convex point as the end 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, taking the point composed of the X coordinate value of the first convex point and the Y coordinate value of the starting point as the end point, and determining a first transfer path according to the starting point and the end point; Taking the end point of the first transfer path as the starting point, when the Y coordinate value of the second convex point is less than the Y coordinate value of the starting point, taking the second convex point as the end point; when the Y coordinate value of the second convex point is greater than or equal to the Y coordinate value of the starting point, taking the point composed of the X coordinate value of the second convex point and the Y coordinate value of the starting point as the end point, and determining a second transfer path according to the starting point and the end point; Similarly, taking the end point of the Kth transfer path as the starting point, when the Y coordinate value of the K+1th convex point is less than the Y coordinate value of the starting point, taking the K+1th convex point as the end point; when the Y coordinate value of the K+1th convex point is greater than or equal to the Y coordinate value of the starting point, taking the point composed of the X coordinate value of the K+1th convex point and the Y coordinate value of the starting point as the end point, and determining a K+1th transfer path according to the starting point and the end point.

8. The method according to claim 7, characterized in that, The specific implementation process of finding all convex points on the side close to the center line of the stockyard from the stockpile enclosing curve includes: Finding two points X1 and X2 with the maximum and minimum X coordinate values on each stockpile enclosing curve; Extracting multiple discrete points on the curve close to the X axis and between the points X1 and X2; Performing one-dimensional nonlinear fitting on the extracted multiple discrete points to obtain a one-dimensional nonlinear regression model; Solve the coordinates of all minimum values of the unary nonlinear regression model, get the corresponding convex point of the stockpile.

9. An electronic device, comprising: The electronic device is in communication connection with the caterpillar type bucket wheel stacker-reclaimer, and the electronic device comprises: A memory for storing a computer program; A processor for implementing the caterpillar type bucket wheel stacker-reclaimer material taking path planning method according to any one of claims 1-8 when executing the computer program.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to implement the caterpillar type bucket wheel stacker-reclaimer material taking path planning method according to any one of claims 1-8.

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