A method and device for controlling the taking of material in an L-shaped bucket-type continuous ship unloader

Abstract

The application provides a material taking control method and device for an L-shaped chain bucket continuous ship unloader, the method comprising: obtaining material surface laser point cloud data and performing equidistant layering to obtain a layering result; performing material leveling based on the layering result; obtaining hatch bulkhead and material surface point cloud data and a material taking head size; determining a polygon minimum closure rectangle of a ship hatch cross section according to the hatch bulkhead and material surface point cloud data; performing equidistant inward shrinking inside the polygon minimum closure rectangle according to the material taking head size to obtain a cell decomposition of the ship hatch cross section; determining the orientation of the material taking head based on the cell decomposition of the ship hatch cross section; determining a target material taking operation mode according to the material taking head size and width information of the polygon minimum closure rectangle; and controlling the material taking head to take material based on the target material taking operation mode and the orientation of the material taking head. It can be seen that the method and device can automatically control material taking, do not require manual operation, save manpower and resources, are safe, and improve material taking operation efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic material taking, in particular to a material taking control method and device of an L-shaped chain bucket type continuous ship unloader. BACKGROUND

[0002] The chain bucket type continuous ship unloader is a special unloading equipment for bulk cargo wharf. The existing material taking control method of the chain bucket type continuous ship unloader is usually manually controlled by a driver. The driver controls the ship unloader to approach the cargo ship, controls the material taking head to enter and exit the cargo hold, and controls the material taking head to take material in the hold according to the material taking plan, the position of the cargo ship, the ship type and the hold distribution. However, it is found in practice that the existing manual control method consumes manpower and material resources, has low safety and low material taking operation efficiency. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a material taking control method and device of an L-shaped chain bucket type continuous ship unloader, which can automatically control material taking, does not need manual operation, saves manpower and material resources, has good safety and improves the material taking operation efficiency.

[0004] The first aspect of the present application provides a material taking control method of an L-shaped chain bucket type continuous ship unloader, comprising:

[0005] obtaining material surface laser point cloud data;

[0006] performing equidistant layering based on the material surface laser point cloud data to obtain a layering result;

[0007] performing material leveling based on the layering result;

[0008] obtaining hold wall and material surface point cloud data and material taking head size;

[0009] determining a polygon minimum closure rectangle of a hold cross section according to the hold wall and material surface point cloud data;

[0010] performing equidistant inward shrinking according to the material taking head size inside the polygon minimum closure rectangle to obtain a cell decomposition of the hold cross section;

[0011] determining the orientation of the material taking head based on the cell decomposition of the hold cross section;

[0012] determining a target material taking operation mode according to the material taking head size and the width information of the polygon minimum closure rectangle;

[0013] controlling the material taking head to take material based on the target material taking operation mode and the orientation of the material taking head.

[0014] In the implementation process, the method can first acquire material surface laser point cloud data, and perform equidistant layering based on the material surface laser point cloud data to obtain a layering result; then, flat material operation is performed based on the layering result; then, the method can acquire bulkhead and material surface point cloud data and a material taking head size; a polygon minimum closure rectangle of a ship cabin cross section is determined according to the bulkhead and material surface point cloud data; then, equidistant inward shrinking is performed according to the material taking head size inside the polygon minimum closure rectangle to obtain a cell decomposition of the ship cabin cross section; at this time, the method can determine the orientation of the material taking head based on the cell decomposition of the ship cabin cross section; then, a target material taking operation mode is determined according to the material taking head size and the width information of the polygon minimum closure rectangle; finally, the material taking head is controlled to take material based on the target material taking operation mode and the orientation of the material taking head. It can be seen that the method can automatically control material taking, does not need manual operation, saves manpower and resources, has good safety, and improves material taking operation efficiency.

[0015] Further, the equidistant layering based on the material surface laser point cloud data to obtain a layering result comprises:

[0016] performing grid processing on the material surface laser point cloud data to obtain elevation difference data;

[0017] performing equidistant layering on the elevation difference data to obtain a layering result.

[0018] Further, the flat material operation based on the layering result comprises:

[0019] determining a flat material layer highest point according to the layering result;

[0020] controlling the material taking head to move to the flat material layer highest point;

[0021] performing flat material operation based on the layering result.

[0022] Further, the polygon minimum closure rectangle of the ship cabin cross section determined according to the bulkhead and material surface point cloud data comprises:

[0023] extracting a contact line point cloud coordinate of the bulkhead and the material surface according to the bulkhead and material surface point cloud data;

[0024] determining a boundary polygon based on the contact line point cloud coordinate and a preset concave shell algorithm;

[0025] performing smoothing processing on the boundary polygon to obtain a target boundary polygon;

[0026] calculating a polygon minimum closure rectangle according to the target boundary polygon.

[0027] Further, the orientation of the material taking head determined based on the cell decomposition of the ship cabin cross section comprises:

[0028] determining a cell edge according to the cell decomposition of the ship cabin cross section;

[0029] equidistantly dividing the cell edge to obtain a rotating trajectory point of the material taking head;

[0030] determining the orientation of the material taking head according to the rotating trajectory point and a preset inner shrinkage line normal.

[0031] Further, the method further comprises:

[0032] obtaining hatch four corner point position data, material taking head position data, hopper loading capacity feedback data, and excavation motor load signal strength signal feedback;

[0033] calculating a material taking speed based on the bulkhead and material surface point cloud data, the hatch four corner point position data, the material taking head position data, the hopper loading capacity feedback data, and the excavation motor load signal strength signal feedback;

[0034] wherein, the controlling the material taking head to take material based on the target material taking operation mode and the orientation of the material taking head comprises:

[0035] controlling the material taking head to take material based on the target material taking operation mode, the orientation of the material taking head, and the material taking speed.

[0036] The second aspect of the application provides a material taking control device of an L-shaped chain bucket continuous ship unloader, the material taking control device of the L-shaped chain bucket continuous ship unloader comprising:

[0037] a first obtaining unit configured to obtain material surface laser point cloud data;

[0038] a layering unit configured to perform equidistant layering based on the material surface laser point cloud data to obtain a layering result;

[0039] a material leveling operation unit configured to perform material leveling operation based on the layering result;

[0040] a second obtaining unit configured to obtain bulkhead and material surface point cloud data and material taking head size;

[0041] a first determining unit configured to determine a polygonal minimum closure rectangle of a ship cabin cross section according to the bulkhead and material surface point cloud data;

[0042] an equidistant inner shrinkage unit configured to perform equidistant inner shrinkage inside the polygonal minimum closure rectangle according to the material taking head size to obtain cell decomposition of the ship cabin cross section;

[0043] a decomposition unit configured to determine the orientation of the material taking head based on the cell decomposition of the ship cabin cross section;

[0044] a second determining unit, configured to determine a target material taking operation mode according to the material taking head size and width information of the polygonal minimum closure rectangle;

[0045] a control unit, configured to control the material taking head to take material based on the target material taking operation mode and the orientation of the material taking head.

[0046] In the implementation process, the device can acquire material surface laser point cloud data through a first acquiring unit, perform equidistant layering based on the material surface laser point cloud data through a layering unit to obtain a layering result, perform material leveling operation based on the layering result through a material leveling operation unit, acquire cabin wall and material surface point cloud data and a material taking head size through a second acquiring unit, determine a polygonal minimum closure rectangle of a ship cabin cross section according to the cabin wall and material surface point cloud data through a first determining unit, perform equidistant inward shrinking based on the material taking head size inside the polygonal minimum closure rectangle through an equidistant inward shrinking unit to obtain a cell decomposition of the ship cabin cross section, determine the orientation of the material taking head based on the cell decomposition of the ship cabin cross section through a decomposition unit, determine a target material taking operation mode according to the material taking head size and the width information of the polygonal minimum closure rectangle through a second determining unit, and control the material taking head to take material based on the target material taking operation mode and the orientation of the material taking head through a control unit. It can be seen that the device can automatically control material taking, does not need manual operation, saves manpower and resources, has good safety, and improves material taking operation efficiency.

[0047] Further, the layering unit comprises:

[0048] a processing sub-unit, configured to perform grid processing on the material surface laser point cloud data to obtain elevation difference data;

[0049] a layering sub-unit, configured to perform equidistant layering on the elevation difference data to obtain a layering result.

[0050] Further, the material leveling operation unit comprises:

[0051] a first determining sub-unit, configured to determine a highest point of a material leveling layer according to the layering result;

[0052] a control sub-unit, configured to control the material taking head to move to the highest point of the material leveling layer;

[0053] a material leveling operation sub-unit, configured to perform material leveling operation based on the layering result.

[0054] Further, the first determining unit comprises:

[0055] an extracting sub-unit, configured to extract cabin wall and material surface intersection line point cloud coordinates according to the cabin wall and material surface point cloud data;

[0056] a second determination sub-unit, configured to determine a boundary polygon based on the handover point cloud coordinates and a preset concave hull algorithm;

[0057] a smoothing sub-unit, configured to perform smoothing processing on the boundary polygon to obtain a target boundary polygon;

[0058] a calculation sub-unit, configured to calculate a polygon minimum bounding rectangle according to the target boundary polygon.

[0059] Further, the decomposition unit comprises:

[0060] a third determination sub-unit, configured to determine a cell edge according to the cell decomposition of the cabin cross section;

[0061] a division sub-unit, configured to perform equidistant division on the cell edge to obtain a rotating and deforming trajectory point of the material taking head;

[0062] The third determination sub-unit is further configured to determine the orientation of the material taking head according to the rotating and deforming trajectory point and a preset in-drawing line normal.

[0063] Further, the material taking control device of the L-shaped chain bucket type continuous ship unloader further comprises:

[0064] a third acquisition unit, configured to acquire hatch four corner point position data, position data of the material taking head, hopper loading capacity feedback data, and excavation motor load signal strength signal feedback;

[0065] a calculation unit, configured to calculate a material taking speed based on the bulkhead and material surface point cloud data, the hatch four corner point position data, the position data of the material taking head, the hopper loading capacity feedback data, and the excavation motor load signal strength signal feedback;

[0066] The control unit is specifically configured to control the material taking head to take material based on the target material taking operation mode, the orientation of the material taking head, and the material taking speed.

[0067] The third aspect of the present application provides an electronic device comprising a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the material taking control method of the L-shaped chain bucket type continuous ship unloader according to any one of the first aspect of the present application.

[0068] The fourth aspect of the present application provides a computer readable storage medium, which stores computer program instructions, and the computer program instructions are read and run by a processor to execute the material taking control method of the L-shaped chain bucket type continuous ship unloader according to any one of the first aspect of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0069] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those of ordinary skill in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0070] Figure 1 A flowchart of a material taking control method of an L-shaped chain bucket type continuous ship unloader provided by the embodiments of the present application is shown in the figure.

[0071] Figure 2 A flowchart of another material taking control method of an L-shaped chain bucket type continuous ship unloader provided by the embodiments of the present application is shown in the figure.

[0072] Figure 3 A structural diagram of a material taking control device of an L-shaped chain bucket type continuous ship unloader provided by the embodiments of the present application is shown in the figure.

[0073] Figure 4 A structural diagram of another material taking control device of an L-shaped chain bucket type continuous ship unloader provided by the embodiments of the present application is shown in the figure.

[0074] Figure 5 A cross-sectional diagram of a material pile layering provided by the embodiments of the present application is shown in the figure.

[0075] Figure 6 A layer-by-layer material leveling diagram provided by the embodiments of the present application is shown in the figure.

[0076] Figure 7 An example diagram of a material leveling process provided by the embodiments of the present application is shown in the figure.

[0077] Figure 8 An example diagram of a material surface plane cross section and a polygon minimum closure rectangle provided by the embodiments of the present application is shown in the figure.

[0078] Figure 9 An execution diagram of a material sweeping strategy provided by the embodiments of the present application is shown in the figure.

[0079] Figure 10 An execution diagram of another material sweeping strategy provided by the embodiments of the present application is shown in the figure.

[0080] Figure 11 A material taking head trajectory diagram after the ship cabin material surface is made to stretch and contract at equal intervals provided by the embodiments of the present application is shown in the figure. DETAILED DESCRIPTION

[0081] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0082] It should be noted that similar reference numerals and letters refer to like items in the accompanying drawings, and that, once an item is defined in one drawing, it should not require further defining and explaining in the subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", and the like are merely used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0083] Embodiment 1

[0084] Please refer to Figure 1 , Figure 1 A flowchart of a material taking control method of an L-shaped bucket-type continuous ship unloader is provided for the present embodiment. The material taking control method of the L-shaped bucket-type continuous ship unloader includes:

[0085] S101, obtaining material surface laser point cloud data.

[0086] S102, performing equidistant layering based on the material surface laser point cloud data to obtain a layering result.

[0087] S103, performing material leveling operation based on the layering result.

[0088] S104, obtaining bulkhead and material surface point cloud data and a material taking head size.

[0089] S105, determining a polygon minimum closure rectangle of a ship cabin cross section according to the bulkhead and material surface point cloud data.

[0090] S106, performing equidistant inward shrinking according to the material taking head size inside the polygon minimum closure rectangle to obtain a cell decomposition of the ship cabin cross section.

[0091] S107, determining an orientation of the material taking head based on the cell decomposition of the ship cabin cross section.

[0092] S108, determining a target material taking operation mode according to the material taking head size and width information of the polygon minimum closure rectangle.

[0093] S109, controlling the material taking head to take material based on the target material taking operation mode and the orientation of the material taking head.

[0094] By implementing this embodiment, the method can process a cross-sectional polygon based on the bulkhead point cloud data, and obtain a cell decomposition of the ship cabin cross section by using an equidistant inward shrinking method according to the material taking head size inside the polygon. Further, the method can also perform equidistant division on the edges of the cell to plan rotation trajectory points of the material taking head, so as to use the point cloud data of the ship cabin as a geometric input to achieve the effect of adapting to various irregular bulkheads, and thus facilitate unified processing.

[0095] In this embodiment, the execution subject of the method can be a computer, a server, or the like computing device, which is not limited in this embodiment.

[0096] In this embodiment, the execution subject of the method can also be a smart phone, a tablet computer, or the like smart device, which is not limited in this embodiment.

[0097] It can be seen that the material taking control method of the L-shaped chain bucket continuous ship unloader described in this embodiment can refine the process of flat layering, thereby realizing a higher precision flat layering effect; and can also process any irregular cabin and complex material pile by refining the decision process of flat layering and sweeping, and relying on the offline bulkhead and online material pile point cloud, thereby improving the application range and improving the universal applicability.

[0098] Embodiment 2

[0099] Please refer to Figure 2 , Figure 2 A flowchart of a material taking control method of an L-shaped chain bucket continuous ship unloader provided in this embodiment. The material taking control method of the L-shaped chain bucket continuous ship unloader includes:

[0100] S201, obtaining material surface laser point cloud data.

[0101] S202, performing grid processing on the material surface laser point cloud data to obtain elevation difference data.

[0102] S203, equally layering the elevation difference data to obtain a layering result.

[0103] S204, determining a flat layer highest point according to the layering result.

[0104] S205, controlling the material taking head to move to the flat layer highest point.

[0105] S206, performing flat layering operation based on the layering result.

[0106] In this embodiment, the distance from the center point of the ship hatch to the bottom of the cabin is H b , the lowest point height of the material surface is H l , and the highest point height of the material surface is H u . Therefore, the following relationships exist:

[0107] H b ≥H l ≥H u ;

[0108] At the same time, the cabin entry inspection height can be determined based on the above settings as: H b -H u , and the flat layering height is: H l -H u; Normal sweeping height: H b -H l .

[0109] Please refer to Figure 5 , Figure 5 shows a cross-sectional schematic diagram of a stockpile layering.

[0110] In this embodiment, the method is to obtain the highest point information of the material surface, and after the material taking head of the ship unloader enters the cabin, laser patrol is performed in the patrol layer, starting from the highest peak and entering the flat material layer for flat material operation. The material surface data is gridded, and the elevation difference of the material surface from the ship hatch is estimated according to the Z value of the grid point coordinates. Please refer to Figure 6 , the method can perform flat material operation on the stockpile in sequence according to the layer-by-layer flat material diagram shown in Figure 6 .

[0111] Please refer to Figure 7 , Figure 7 shows an example schematic diagram of a flat material process.

[0112] S207, obtaining cabin wall and material surface point cloud data and material taking head size.

[0113] S208, extracting the intersection line point cloud coordinates of the cabin wall and the material surface according to the cabin wall and the material surface point cloud data.

[0114] S209, determining the boundary polygon based on the intersection line point cloud coordinates and the preset concave shell algorithm.

[0115] S210, smoothing the boundary polygon to obtain a target boundary polygon.

[0116] S211, calculating the minimum closed rectangle of the polygon according to the target boundary polygon.

[0117] In this embodiment, the normal material taking refers to the decision-making process of the material taking head trajectory and speed guidance when the material surface is flat overall. The material taking is generally based on the size of the cross-sectional boundary line of the ship cabin, and the equidistant inward shrinking is adopted. However, because the widths are not equal, the large ship cabin can be inwardly shrunk many times, and the small ship cabin can be inwardly shrunk less times.

[0118] Here, the sampling point set intersecting the cross section of the ship cabin and the material surface is denoted as P bnd ={P1, P2, …, P N}, and by the assumption that the material surface is flat overall, it is projected onto the plane z=0 to obtain the plane point set Q bnd ={Q1, Q2, …, Q N}. It can be seen that the method can calculate the minimum circumscribed rectangle containing the set of plane points, denoted as ABCD.

[0119] Please refer to Figure 8 ,Figure 8 An example schematic diagram of a material surface plane cross section and a polygon minimum enclosing rectangle is shown.

[0120] wherein the method can be according to the rectangle width bw value and The number of laps and the last material taking part decision mode are calculated. Specifically, wherein, represents the extraction of the integer part.

[0121] At the same time, let k = n%2, k is an integer value of 0 or 1, indicating the parity of n.

[0122] Let l = n / / 2, l is a non-negative integer, indicating the number of complete laps that can be scanned.

[0123] At this time, if k = 0, that is, represents the area with a width less than the length of a material taking head after l complete laps of material taking. At this time, a straight line horizontal scanning along the edge can be used. Please refer to Figure 9 , Figure 9 An execution schematic diagram of a material scanning strategy is shown, that is, one lap of the periphery + single side horizontal scanning of the center area.

[0124] If k = 1, that is, represents the area with a width greater than the length of a material taking head and less than the length of two material taking heads after l complete laps of material taking. At this time, a lap scanning in the center of the area can be used. Please refer to Figure 10 , Figure 10 An execution schematic diagram of another material scanning strategy is shown, that is, one lap of the periphery + center line lap scanning of the remaining area.

[0125] S212, inside the polygon minimum enclosing rectangle, according to the size of the material taking head, the cell decomposition of the cabin cross section is obtained by equidistantly shrinking inwards.

[0126] S213, the cell edge is determined according to the cell decomposition of the cabin cross section.

[0127] S214, the cell edge is equidistantly divided to obtain the rotating trajectory points of the material taking head.

[0128] Please refer to Figure 11 , Figure 11 A material taking head trajectory diagram after the cabin material surface is equidistantly stretched is shown. According to the inwards shrinking, the first layer of inwards shrinking lines and the second layer of inwards shrinking lines are obtained in sequence, the end point trajectory of the material taking head is determined by sampling equidistant points thereon, and the direction of the material taking head is determined according to the fixed angle between the connecting line of the equidistant points and the normal.

[0129] S215, according to the rotation deformation track point, the orientation of the material taking head is determined according to the preset inner shrink line normal.

[0130] S216, according to the size of the material taking head and the width information of the minimum closed rectangle of the polygon, the target material taking operation mode is determined.

[0131] S217, the position data of the four corner points of the hatch, the position data of the material taking head, the loading capacity feedback data of the hopper and the load signal strength signal feedback of the excavating motor are obtained.

[0132] S218, based on the hatch and the material surface point cloud data, the position data of the four corner points of the hatch, the position data of the material taking head, the loading capacity feedback data of the hopper and the load signal strength signal feedback of the excavating motor, the material taking speed is calculated.

[0133] S219, based on the target material taking operation mode, the orientation of the material taking head and the material taking speed, the material taking head is controlled to take material.

[0134] For example, the method can be realized by the following steps:

[0135] (1) data input: hatch and material surface point cloud; position data of four corner points of hatch; position data of material taking head (BE cylinder center position, orientation angle of material taking head); loading capacity feedback of hopper; load signal strength signal feedback of excavating motor;

[0136] (2) extract the intersection line point cloud coordinates of the hatch and the material surface;

[0137] (3) get the boundary polygon by concave shell algorithm;

[0138] (4) smooth the boundary polygon;

[0139] (5) calculate the minimum closed rectangle of the polygon;

[0140] (6) equidistantly shrink according to the size of the material taking head;

[0141] (7) compare the width of the rectangle with the diagonal length of the material taking head, and take the integer value divided by 2;

[0142] (8.1) if it is an odd number, scan the material in each circle according to the specified rotation direction, keep the material taking head in the outer circle and the BE cylinder center in the inner circle; in the last circle, rotate along the remaining material center line to scan the material;

[0143] (8.2) if it is an even number, scan the material in each circle according to the specified rotation direction, keep the material taking head in the outer circle and the BE cylinder center in the inner circle; in the last circle, scan the material along the remaining material 1 long side;

[0144] (branches) Based on the calculated material taking speed, the material taking depth is calculated according to the current material surface height and the maximum depth to determine a dynamic value around the mean value (such as 0.5 m), and step (1) is triggered to be executed;

[0145] (9) The actual material taking trajectory data R=VU is corrected according to the planning result and the coordinate change of the hatch opening in this period of time T , T=O'-RO; step (1) can be triggered to be executed;

[0146] (10) The position of the BE cylinder point, the BE cylinder horizontal orientation angle, the pitch angle, the feed depth, the BE cylinder center translation speed, and the rotation speed around the BE cylinder center are obtained;

[0147] (11) The rotation angle of each mechanical arm and the movement distance of the cart are obtained through inverse kinematics solution.

[0148] In this embodiment, the method has the following key points:

[0149] (1) The three division method of the surveying layer, the material leveling layer, and the sweeping layer based on the elevation difference between the material surface point cloud and the hatch position.

[0150] (2) The material leveling layering and density clustering (DBN) are performed according to the topological structure of the material pile merging to plan the material leveling operation path.

[0151] (3) The inner shrinkage according to the hatch size and the hatch wall polygon is performed, and the ring cell decomposition is performed on the hatch wall section.

[0152] (4) According to the cell decomposition result, the trajectory points are obtained by equidistant sampling on the inner shrinkage line.

[0153] (5) According to the fixed angle of the inner shrinkage line normal, the direction of the material taking head is obtained.

[0154] (6) According to the width information of the circumscribed rectangle of the material taking head size and the hatch wall polygon, the final material taking operation mode is determined.

[0155] In this embodiment, the execution subject of the method can be a computer, a server, or other computing devices, which are not limited in this embodiment.

[0156] In this embodiment, the execution subject of the method can also be a smart phone, a tablet computer, or other smart devices, which are not limited in this embodiment.

[0157] As can be seen, the material taking control method of the L-shaped chain bucket type continuous ship unloader described in this embodiment can refine the process of material leveling layering, thereby realizing higher precision of material leveling layering effect; and can process any special-shaped hatch and complex material pile through refining the decision process of material leveling and sweeping and relying on the offline hatch wall and online material pile point cloud, thereby improving the application range and improving the universal applicability.

[0158] Embodiment 3

[0159] Please refer to Figure 3 , Figure 3 A structure diagram of a material taking control device of an L-shaped bucket-type continuous ship unloader is provided in this embodiment. As shown in the figure, Figure 3 The material taking control device of the L-shaped bucket-type continuous ship unloader includes:

[0160] A first acquisition unit 310 is configured to acquire material surface laser point cloud data.

[0161] A layering unit 320 is configured to perform equidistance layering based on the material surface laser point cloud data to obtain a layering result.

[0162] A material leveling operation unit 330 is configured to perform material leveling operation based on the layering result.

[0163] A second acquisition unit 340 is configured to acquire bulkhead and material surface point cloud data and a material taking head size.

[0164] A first determination unit 350 is configured to determine a polygon minimum closure rectangle of a ship cabin cross section according to the bulkhead and material surface point cloud data.

[0165] An equidistance inward shrinking unit 360 is configured to perform equidistance inward shrinking inside the polygon minimum closure rectangle according to the material taking head size to obtain a cell decomposition of the ship cabin cross section.

[0166] A decomposition unit 370 is configured to determine an orientation of the material taking head based on the cell decomposition of the ship cabin cross section.

[0167] A second determination unit 380 is configured to determine a target material taking operation mode according to the material taking head size and width information of the polygon minimum closure rectangle.

[0168] A control unit 390 is configured to control the material taking head to take material based on the target material taking operation mode and the orientation of the material taking head.

[0169] In this embodiment, the explanation and description of the material taking control device of the L-shaped bucket-type continuous ship unloader can refer to the description in Embodiment 1 or Embodiment 2, and no more details are added in this embodiment.

[0170] It can be seen that the material taking control device of the L-shaped bucket-type continuous ship unloader described in this embodiment can refine the process of material leveling and layering, thereby realizing a higher precision of material leveling and layering effect; and can process any irregular-shaped cabin and complex material pile by refining the decision process of material leveling and sweeping, and relying on offline bulkhead and online material pile point cloud, thereby improving the application range and improving the universal applicability.

[0171] Embodiment 4

[0172] Please refer to Figure 4 , Figure 4 A structure diagram of a material taking control device of an L-shaped bucket continuous ship unloader is provided for the embodiment. As shown in the figure Figure 4 The material taking control device of the L-shaped bucket continuous ship unloader includes:

[0173] A first acquisition unit 310 is configured to acquire material surface laser point cloud data.

[0174] A layering unit 320 is configured to perform equidistance layering based on the material surface laser point cloud data to obtain a layering result.

[0175] A material leveling operation unit 330 is configured to perform material leveling operation based on the layering result.

[0176] A second acquisition unit 340 is configured to acquire bulkhead and material surface point cloud data and a material taking head size.

[0177] A first determination unit 350 is configured to determine a polygon minimum closure rectangle of a ship cabin cross section according to the bulkhead and material surface point cloud data.

[0178] An equidistance inward shrinking unit 360 is configured to perform equidistance inward shrinking inside the polygon minimum closure rectangle according to the material taking head size to obtain a cell decomposition of the ship cabin cross section.

[0179] A decomposition unit 370 is configured to determine an orientation of the material taking head based on the cell decomposition of the ship cabin cross section.

[0180] A second determination unit 380 is configured to determine a target material taking operation mode according to the material taking head size and width information of the polygon minimum closure rectangle.

[0181] A control unit 390 is configured to control the material taking head to take material based on the target material taking operation mode and the orientation of the material taking head.

[0182] As an optional implementation, the layering unit 320 includes:

[0183] A processing subunit 321 is configured to perform gridding processing on the material surface laser point cloud data to obtain elevation difference data.

[0184] A layering subunit 322 is configured to perform equidistance layering on the elevation difference data to obtain a layering result.

[0185] As an optional implementation, the material leveling operation unit 330 includes:

[0186] A first determination subunit 331 is configured to determine a material leveling layer highest point according to the layering result.

[0187] A control subunit 332 is configured to control the material taking head to move to the material leveling layer highest point.

[0188] The flat material operation subunit 333 is configured to perform flat material operation based on the layering result.

[0189] As an optional implementation, the first determining unit 350 includes:

[0190] The extraction subunit 351 is configured to extract the intersection line point cloud coordinates of the bulkhead and the material surface according to the bulkhead and material surface point cloud data.

[0191] The second determining subunit 352 is configured to determine the boundary polygon based on the intersection line point cloud coordinates and a preset concave hull algorithm.

[0192] The smoothing subunit 353 is configured to perform smoothing processing on the boundary polygon to obtain a target boundary polygon.

[0193] The calculation subunit 354 is configured to calculate the polygon minimum bounding rectangle according to the target boundary polygon.

[0194] As an optional implementation, the decomposition unit 370 includes:

[0195] The third determining subunit 371 is configured to determine the cell edge according to the cell decomposition of the ship cabin cross section.

[0196] The division subunit 372 is configured to perform equidistant division on the cell edge to obtain the rotation trajectory points of the material taking head.

[0197] The third determining subunit 371 is further configured to determine the orientation of the material taking head according to the rotation trajectory points and a preset inwardly retracted line normal.

[0198] As an optional implementation, the material taking control device of the L-shaped chain bucket type continuous ship unloader further includes:

[0199] The third acquisition unit 400 is configured to acquire the position data of the four corner points of the hatch, the position data of the material taking head, the loading capacity feedback data of the hopper, and the load signal strength signal feedback of the excavating motor.

[0200] The calculation unit 410 is configured to calculate the material taking speed based on the bulkhead and material surface point cloud data, the position data of the four corner points of the hatch, the position data of the material taking head, the loading capacity feedback data of the hopper, and the load signal strength signal feedback of the excavating motor.

[0201] The control unit 390 is specifically configured to control the material taking head to take material based on the target material taking operation mode, the orientation of the material taking head, and the material taking speed.

[0202] In this embodiment, the explanation and description of the material taking control device of the L-shaped chain bucket type continuous ship unloader can refer to the description in Embodiment 1 or Embodiment 2, and no more details will be described herein.

[0203] It can be seen that the material taking control device of the L-shaped chain bucket continuous ship unloader described in the embodiment can refine the process of flat material layering, thereby realizing a higher-precision flat material layering effect; and can process any irregular-shaped cabin and complex material pile by refining the decision process of flat material and sweeping material and relying on the offline cabin wall and the online material pile point cloud, thereby improving the application range and improving the universal applicability.

[0204] The electronic device provided in the embodiment of the present application includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the material taking control method of the L-shaped chain bucket continuous ship unloader in the embodiment 1 or the embodiment 2 of the present application.

[0205] The computer readable storage medium provided in the embodiment of the present application stores computer program instructions, and when the computer program instructions are read and run by a processor, the material taking control method of the L-shaped chain bucket continuous ship unloader in the embodiment 1 or the embodiment 2 of the present application is executed.

[0206] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are only schematic, for example, the flowcharts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the devices, methods and computer program products according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders from those described in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0207] In addition, each functional module in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0208] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts of the prior art that make contributions or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0209] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0210] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0211] It should be noted that, in this document, the terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

Claims

1. A material reclaiming control method for an L-shaped chain bucket continuous ship unloader, characterized in that: include: Obtain laser point cloud data of the material surface; Performing equidistant stratification based on the laser point cloud data of the material surface to obtain a stratification result; Performing a flattening operation based on the stratification results; Obtain point cloud data of bulkhead and material surface and dimensions of reclaiming head; Determine the minimum polygonal enclosing rectangle of the cabin cross section based on the bulkhead and material surface point cloud data; Inside the minimum closed rectangle of the polygon, perform isometric indentation according to the size of the material taking head to obtain a cellular decomposition of the cabin cross section; Determining the orientation of the material taking head based on the cellular decomposition of the cabin cross section; Determining a target reclaiming operation mode according to the reclaiming head size and the width information of the minimum enclosing rectangle of the polygon; The reclaiming head is controlled to reclaim materials based on the target reclaiming operation mode and the direction of the reclaiming head.

2. The material reclaiming control method of the L-shaped chain bucket continuous ship unloader according to claim 1, characterized in that: The equidistant stratification based on the material surface laser point cloud data to obtain the stratification results includes: Gridding the laser point cloud data of the material surface to obtain elevation difference data; The elevation difference data is equidistantly layered to obtain a layered result.

3. The material reclaiming control method of the L-shaped chain bucket continuous ship unloader according to claim 1, characterized in that: The flattening operation based on the stratification result includes: Determine the highest point of the flat material layer according to the stratification result; Controlling the material taking head to move to the highest point of the flat material layer; The material leveling operation is performed based on the stratification results.

4. The material reclaiming control method of the L-shaped chain bucket continuous ship unloader according to claim 1, characterized in that: The step of determining the minimum polygonal enclosing rectangle of the cabin cross section based on the bulkhead and material surface point cloud data includes: Extracting the point cloud coordinates of the intersection line between the bulkhead and the material surface according to the point cloud data of the bulkhead and the material surface; Determine the boundary polygon based on the intersection line point cloud coordinates and a preset concave hull algorithm; Performing a smoothing process on the boundary polygon to obtain a target boundary polygon; A polygon minimum enclosing rectangle is calculated based on the target boundary polygon.

5. The material reclaiming control method of the L-shaped chain bucket continuous ship unloader according to claim 1, characterized in that: The determining of the direction of the material taking head based on the cell decomposition of the cabin cross section includes: determining a cell edge based on a cell decomposition of the cabin cross section; Dividing the edge of the cell cavity into equal intervals to obtain the rotation trajectory points of the material taking head; According to the rotation trajectory points, the direction of the material taking head is determined according to the preset inner shrinkage line normal.

6. The material reclaiming control method of the L-shaped chain bucket continuous ship unloader according to claim 1, characterized in that: The method further comprises: Obtaining the position data of the four corner points of the hatch, the position data of the material taking head, the hopper loading feedback data and the excavation motor load signal strength signal feedback; Calculating the material reclaiming speed based on the bulkhead and material surface point cloud data, the position data of the four corner points of the hatch, the position data of the reclaiming head, the hopper loading feedback data, and the excavation motor load signal strength signal feedback; Wherein, controlling the reclaiming head to reclaim materials based on the target reclaiming operation mode and the direction of the reclaiming head includes: The reclaiming head is controlled to reclaim materials based on the target reclaiming operation mode, the direction of the reclaiming head and the reclaiming speed.

7. A material taking control device for an L-shaped chain bucket continuous ship unloader, characterized in that: The material taking control device of the L-shaped chain bucket continuous ship unloader includes: The first acquisition unit is used to acquire laser point cloud data of the material surface; A stratification unit, configured to perform equidistant stratification based on the laser point cloud data of the material surface to obtain a stratification result; a flattening operation unit, configured to perform flattening operations based on the stratification results; The second acquisition unit is used to obtain the point cloud data of the bulkhead and the material surface and the size of the material head; A first determining unit is configured to determine a polygonal minimum enclosing rectangle of a cabin cross section based on the bulkhead and material surface point cloud data; An isometric shrinking unit is used to perform isometric shrinking according to the size of the material taking head within the minimum closed rectangle of the polygon to obtain a cellular decomposition of the cabin cross section; a decomposition unit, configured to determine the orientation of the material taking head based on the cellular decomposition of the cabin cross section; A second determining unit is used to determine a target reclaiming operation mode according to the reclaiming head size and the width information of the minimum enclosing rectangle of the polygon; A control unit is used to control the reclaiming head to reclaim materials based on the target reclaiming operation mode and the direction of the reclaiming head.

8. The material taking control device of the L-shaped chain bucket continuous ship unloader according to claim 7, characterized in that: The layered unit comprises: A processing subunit, configured to perform grid processing on the material surface laser point cloud data to obtain elevation difference data; The stratification subunit is used to stratify the elevation difference data into equal intervals to obtain a stratification result.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the material reclaiming control method of the L-shaped chain bucket continuous ship unloader according to any one of claims 1 to 6.

10. A readable storage medium, characterized in that: The readable storage medium stores computer program instructions, and when the computer program instructions are read and executed by a processor, the material taking control method of the L-shaped chain bucket continuous ship unloader according to any one of claims 1 to 6 is executed.

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