Method for unattended slag cleaning, terminal device and readable storage medium

Abstract

The application relates to the technical field of slag cleaning, and discloses an unmanned slag cleaning method, a terminal device and a computer readable storage medium, the method comprising the following steps: detecting slag areas of each loading position in a slag port area; calculating a slag ratio according to the slag areas and total areas of the loading positions; when the slag ratio is greater than or equal to a preset ratio, controlling a loading machine to move to a preset loading machine pose corresponding to a loading position to be cleaned to perform a slag cleaning operation. The problems of high cost in automatic slag cleaning are solved, and the effect of reducing the cost is achieved.

Description

Technical Field

[0001] This application relates to the field of slag cleaning technology, and in particular to unmanned slag cleaning methods, terminal equipment and computer-readable storage media. Background Technology

[0002] During production operations in copper mines, slag is generated. This slag accumulates in the relatively enclosed and fixed area of ​​the slag dumping port, so it needs to be cleaned and transported regularly to ensure that the next slag dumping and crushing task can be carried out smoothly.

[0003] When cleaning and transferring slag from the slag outlet, the work is usually done manually by a loader. However, slag contains harmful substances such as heavy metals and dust, which can easily cause harm to the human body. Therefore, there is a need for a device that can automatically clean the slag. Currently, the usual approach is to make extensive modifications to the slag outlet to increase the distance between the slag outlet and the slag stacking area in the slag outlet area, so that the slag will not easily block the slag outlet. However, this method of modifying the slag outlet is costly. Summary of the Invention

[0004] This application provides an unmanned slag cleaning method, terminal equipment, and computer-readable storage medium, which solves the problem of high cost in achieving automatic slag cleaning and achieves the effect of cost reduction.

[0005] This application provides an unmanned slag cleaning method, which includes:

[0006] The slag area at each loading position in the slag outlet area was detected;

[0007] The slag ratio is calculated based on the slag area and the area of ​​the loading position.

[0008] When the slag ratio is greater than or equal to the preset ratio, the unmanned loader is controlled to move to the preset loader position corresponding to the loading position to be cleaned to carry out slag cleaning operation.

[0009] Optionally, the step of detecting the slag area at each loading position in the slag outlet region includes:

[0010] The control field environmental sensing module collects images of the slag outlet area and images of preset calibration objects;

[0011] Detect the area of ​​slag in the image of the slag outlet region;

[0012] The actual slag area is determined based on the image of the slag outlet area, the image of the preset calibration object, and the slag area in the image.

[0013] Optionally, the step of controlling the unmanned loader to move to the preset loader position corresponding to the loading position to be cleaned and to perform slag cleaning operation when the slag ratio is greater than or equal to the preset ratio includes:

[0014] When the slag ratio is greater than or equal to the preset ratio, the current position of the loader is obtained;

[0015] Adjust the current position according to the preset loader position, and control the loader to perform the slag cleaning operation.

[0016] Optionally, the step of controlling the unmanned loader to move to the preset loader position corresponding to the loading position to be cleaned and to perform slag cleaning operation when the slag ratio is greater than or equal to the preset ratio further includes:

[0017] When the number of loading positions to be cleaned is two or more, obtain the ratio of each slag.

[0018] The slag ratios are sorted from largest to smallest to generate the corresponding cleaning order for the loading positions to be cleaned.

[0019] The loader is controlled to perform the slag cleaning operation according to the cleaning sequence.

[0020] Optionally, the step of controlling the loader to perform the slag cleaning operation according to the cleaning sequence includes:

[0021] Obtain the preset loader position corresponding to the first position in the cleaning sequence, control the loader to run to the preset loader position, and perform the slag cleaning operation;

[0022] After completing the slag cleaning operation corresponding to the first priority, the preset loader position corresponding to the second priority in the cleaning sequence is obtained, and the loader is controlled to run to the preset loader position to perform the slag cleaning operation until the slag cleaning task of each loading position in the cleaning sequence is completed.

[0023] Optionally, the step of controlling the unmanned loader to move to the preset loader position corresponding to the loading position to be cleaned for slag cleaning operation includes:

[0024] After the loader reaches the position corresponding to the preset loader posture, control the bucket to touch the ground and scoop forward;

[0025] After the preset stopping conditions are met, the loader is controlled to stop moving forward and the bucket is retracted;

[0026] The loader is controlled to transfer the slag to the slag storage area.

[0027] Optionally, the step of controlling the loader to stop moving forward and retracting the bucket after the preset stopping condition is met includes:

[0028] When it is detected that the loader cannot continue moving forward within a preset time, it is determined that the preset stopping condition has been met; or...

[0029] When it is detected that the loader has started to travel a preset distance from the preset loader position, it is determined that the preset stopping condition is met;

[0030] After the preset stopping conditions are met, a stop forward command is sent to the loader, and the bucket is retracted.

[0031] Optionally, before the step of controlling the unmanned loader to move to the preset loader position corresponding to the slag cleaning position to perform the slag cleaning operation, the following steps are included:

[0032] Detect whether the slag outlet performs slag dumping within a preset time;

[0033] If so, after the slag is dumped at the slag outlet, the unmanned loader is then controlled to move to the preset loader position corresponding to the loading position to be cleaned for slag cleaning operation.

[0034] In addition, to achieve the above objectives, embodiments of the present invention also provide a terminal device, including a memory, a processor, and an unmanned slag cleaning program stored in the memory and executable on the processor. When the processor executes the unmanned slag cleaning program, it implements the method described above.

[0035] In addition, to achieve the above objectives, embodiments of the present invention also provide a computer-readable storage medium storing an unmanned slag cleaning program, which, when executed by a processor, implements the method described above.

[0036] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0037] The slag outlet area is divided into multiple loading positions. The slag area of ​​each loading position is detected, and the slag ratio is calculated based on the slag area and the area of ​​the loading position. Slag is cleaned from loading positions where the slag ratio is greater than or equal to a preset ratio. The loader is then controlled to move to the loader position before the loading position to begin the slag cleaning operation. This method requires only simple processing of the slag outlet area to complete the slag cleaning, solving the problem of high costs in related slag cleaning technologies and achieving cost reduction. Attached Figure Description

[0038] Figure 1 This is a flowchart illustrating an embodiment of the unmanned slag cleaning method of this application.

[0039] Figure 2 This is a schematic diagram illustrating the division of the slag outlet area in the unmanned slag cleaning method of this application.

[0040] Figure 3 This is a schematic flowchart of Embodiment 2 of the unmanned slag cleaning method of this application;

[0041] Figure 4 This is a schematic diagram of the terminal structure of the hardware operating environment involved in one embodiment of this application. Detailed Implementation

[0042] In existing slag cleaning technologies, achieving automated cleaning requires significant modifications to the slag outlet, resulting in high costs. To address this issue, this application provides an unmanned slag cleaning method. This method divides the slag outlet area into multiple loading positions, detects the slag area at each loading position, and calculates the slag ratio based on the slag area and the loading position area. When the slag ratio is greater than or equal to a preset ratio, the unmanned loader is controlled to move to the preset loader position corresponding to the loading position to be cleaned, and performs the slag cleaning operation. Only a simple division of the slag outlet area is needed to enable the loader to complete slag cleaning without human intervention, thus reducing costs.

[0043] To better understand the above technical solutions, exemplary embodiments of this application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0044] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0045] Example 1

[0046] In this embodiment, an unmanned slag cleaning method is provided.

[0047] Reference Figure 1 The unmanned slag cleaning method in this embodiment includes the following steps:

[0048] Step S100: Detect the slag area at each loading position in the slag outlet area;

[0049] In this embodiment, refer to Figure 2The slag discharge port is also known as the slag outlet. The slag discharge port area can be a rectangular area, which is then divided into smaller rectangular areas, each 12 meters long and 3 meters wide. These smaller rectangular areas are the loading positions. A safety zone is also provided between the slag discharge port area and the slag discharge port. The slag in the safety zone is not cleaned and is used to assist the loader in loading slag, while also preventing the loader's bucket from colliding with the wall and damaging the loader. Figure 2 As shown, the safety zone can be set to a distance of 1.5 meters from the wall where the slag outlet is located. A corresponding loader position is also set in front of each loading position. Before cleaning the loading position, the loader must be controlled to move to the specified loader position.

[0050] As an optional implementation, when determining the slag area at each loading position, an image of the slag outlet area and an image of a preset calibration object can be acquired by a field-end environmental sensing module. The slag area in the image of the slag outlet area is detected, and the actual slag area at each loading position is calculated based on the image of the slag outlet area, the image of the preset calibration object, and the slag area in the image. Only a simple division of the slag outlet area is required, along with the addition of a field-end environmental sensing module and calibration objects, to achieve the detection of the slag area at the loading position, thus reducing operating costs.

[0051] For example, the field-end environmental sensing module is positioned near the slag outlet, and different placement locations can be selected according to actual needs. The field-end environmental sensing module can be a camera, radar, or other image-capturing device. A calibration object is also placed within the field-end environmental sensing module's field of view to convert the captured images into a scaled-down representation of the actual scene. After installing the field-end environmental sensing module and the calibration object, it is also necessary to determine the scale between the image and the actual scene for subsequent slag area measurement and conversion.

[0052] Step S200: Calculate the slag ratio based on the slag area and the area of ​​the loading position;

[0053] In this embodiment, the area of ​​each loading position is fixed, and the slag ratio of each loading position can be calculated after the slag area is determined.

[0054] As an optional implementation, the image of each loading position is processed by image processing technology to identify and extract the outline of the slag. Then, edge detection technology is used to identify the interface between the slag and the background, thereby determining the slag area of ​​each loading position. Since the area of ​​each loading position is fixed, the slag area is divided by the area of ​​the loading position to calculate the slag ratio in that loading position.

[0055] As an alternative implementation, when slag is poured from the slag outlet to the slag outlet area, the loading position directly below the slag outlet typically accumulates more slag, while the loading positions farther from the slag outlet accumulate less slag. Therefore, after calculating the slag ratio for each loading position each time, the slag ratio received by each loading position can be recorded. This allows the slag ratio for each loading position to be predicted after each slag pour, and the actual calculated slag ratio can be compared with the predicted slag ratio. If there is a significant deviation, the slag area image is reacquired and the slag ratio is recalculated to improve the accuracy of the measured slag ratio.

[0056] For example, since slag is dumped from the slag outlet at preset intervals, an image of the slag outlet area can be captured after each slag dump, thereby determining the slag ratio for each loading position. A mapping table is generated based on the amount of raw material burned during each slag dump and the slag ratio for each loading position. By comparing mapping tables with the same raw material, the preset slag ratio for each loading position under the same raw material condition can be determined.

[0057] Step S300: When the slag ratio is greater than or equal to the preset ratio, control the unmanned loader to move to the preset loader position corresponding to the loading position to be cleaned and perform slag cleaning operation.

[0058] In this embodiment, when the slag ratio is greater than or equal to a preset ratio, the slag needs to be cleaned promptly to avoid affecting slag discharge from the slag outlet. For example... Figure 2 As shown, the loader position marked before loading position 5 is the preset loader position. Each loading position has a corresponding preset loader position (other preset loader positions are not shown in the diagram). The arrow direction indicates the forward direction set before the loader begins shoveling slag. The preset ratio can be set according to actual conditions, reducing the number of loader operations while simultaneously reducing the impact of slag volume in the slag outlet area on slag discharge.

[0059] As an optional implementation, when the slag ratio is determined to be greater than or equal to a preset ratio, the current position of the loader is first obtained, and the current position is adjusted according to the preset loader position so that the loader can run to the preset loader position and start the slag cleaning operation.

[0060] For example, once the loader reaches the preset loader position, it receives a slag cleaning operation signal. Based on this signal, the loader's bucket is controlled to move forward, keeping close to the ground directly in front of the loader, and shovel the slag into the bucket. For the same slag outlet area, the distance from the bucket to the ground is consistent, and at the loader position, there is no slag or other obstacles in front of the loader, ensuring the bucket can reach the ground. After confirming the bucket is close to the ground, the loader is then controlled to begin moving forward. This ensures the loader can remove the slag from the loading position.

[0061] As another alternative implementation, in actual operation, there are usually more than one loading position in a slag outlet area that needs to be cleaned at the same time. Therefore, it is necessary to determine the number of loading positions that need to be cleaned and sort the amount of slag in each loading position. Priority should be given to removing the slag from the loading positions with a higher slag ratio to avoid affecting the operation of the slag outlet.

[0062] For example, when two or more loading positions are detected to be cleaned, the slag ratio of each loading position is obtained, and the slag ratios are sorted from largest to smallest to generate a corresponding cleaning sequence for the loading positions to be cleaned. The loader is then controlled to perform slag cleaning operations according to the cleaning sequence. For instance, the first position in the cleaning sequence, i.e., the loading position with the largest slag ratio that is greater than or equal to a preset ratio, is obtained, and the loader is controlled to move to the preset loader position corresponding to the first position to perform the slag cleaning operation. After the slag in the first position is cleaned, the preset loader position corresponding to the second position in the cleaning sequence is obtained, and the slag cleaning operation continues until the slag in the loading positions with a slag ratio greater than or equal to the preset ratio in the cleaning sequence is cleaned.

[0063] It should be noted that, since a safety zone is set up in the slag outlet area, the slag cleaned up at the loading position as described in this application refers to the slag other than the slag in the safety zone.

[0064] As another optional implementation, after determining that the slag ratio is greater than or equal to the preset ratio, before controlling the unmanned loader to move to the preset loader position corresponding to the loading position to be cleaned for slag cleaning operation, it is necessary to detect whether the slag outlet needs to perform slag dumping operation within a preset time. If so, it is necessary to wait for the slag outlet to complete the slag dumping before controlling the loader to move to the preset loader position corresponding to the loading position to be cleaned for slag cleaning operation.

[0065] For example, the time interval between each slag discharge from the slag outlet is fixed, but there are also cases where the slag outlet discharges slag continuously. Therefore, before carrying out slag cleaning work, it is necessary to check whether the slag outlet will dump slag within a preset time. If so, it is necessary to wait for the slag to be dumped completely before starting the operation to prevent the loader from being buried. In addition, since the temperature of the freshly dumped slag is high, in order to extend the service life of the loader, it is advisable to wait for the slag temperature to drop to a preset temperature before controlling the loader to start working.

[0066] In this embodiment, the slag outlet area is divided into loading positions of equal area. An environmental sensing calibration device is then installed near the slag outlet to allow the acquired image of the slag outlet area to be proportionally converted into a real-world scene. The slag ratio of each loading position in the image of the slag outlet area is calculated. Loading positions with a slag ratio greater than or equal to a preset ratio are designated as loading positions to be cleaned. The loader is then controlled to move to the preset loader posture corresponding to the loading position to perform the slag cleaning. With only simple settings for the slag outlet area, unmanned slag cleaning can be achieved, reducing operating costs while enabling unmanned slag cleaning.

[0067] Example 2

[0068] Based on Embodiment 1, another embodiment of this application is proposed, with reference to... Figure 3 The step of controlling the unmanned loader to move to the preset loader position corresponding to the loading position to be cleaned for slag cleaning operation also includes the following steps:

[0069] Step S310: After the loader reaches the position corresponding to the preset loader posture, control the bucket to touch the ground and scoop forward;

[0070] Step S320: After the preset stopping conditions are met, control the loader to stop moving forward and retract the bucket;

[0071] Step S330: Control the loader to transfer the slag to the slag storage yard.

[0072] In this embodiment, when the loader reaches the preset loader position, the slag cleaning procedure is triggered. When the preset stopping condition is met, the loader stops moving forward, retracts the bucket, and transfers the slag to the slag storage area. This prevents the loader from continuously moving forward and causing damage to the loader.

[0073] As an optional implementation, when the loader is unable to continue moving forward within a preset time, it is determined that the preset stopping condition has been met.

[0074] For example, to avoid affecting the normal operation of the loader, a maximum loading capacity is set for the loader's bucket. When the mass of slag loaded in the loader's bucket is detected to be equal to the maximum loading capacity, a stop signal is triggered, and the loader can no longer move forward. At this time, the loader retracts its bucket and transports the slag to the slag storage area. It then returns to the slag discharge area to continue slag cleaning operations until the slag cleaning task in the slag discharge area is completed.

[0075] As another optional implementation, the preset stopping condition can also be set to determine that the preset stopping condition is met when the loader starts traveling a preset distance from the preset loader position.

[0076] For example, when the mass of slag loaded in the bucket is less than the maximum load capacity of the bucket, it will continue to move forward. To prevent the loader from continuously moving forward and causing the bucket to hit the wall and deform, it is necessary to set the travel distance of the loader in the loading position, stopping the loader from moving forward before reaching the wall. Figure 2 As shown, since a safety zone of 1.5 meters away from the wall is set within the slag discharge area, the preset distance can be set to the distance from the preset loader position to the safety zone. This ensures that the loader can remove the maximum amount of slag in one operation while preventing damage to the loader. The preset distance can be set according to the actual operating conditions.

[0077] In this embodiment, setting a stop-forward condition for the loader can prevent the loader from being damaged during operation due to excessive loading or excessive forward movement.

[0078] Example 3

[0079] In this application embodiment, an unmanned slag cleaning device is proposed.

[0080] Reference Figure 3 , Figure 3 This is a schematic diagram of the terminal structure of the hardware operating environment involved in one embodiment of this application.

[0081] like Figure 3 As shown, the control terminal may include: a processor 1001, such as a CPU, a network interface 1003, a memory 1004, and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The network interface 1003 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1004 may be high-speed RAM or stable non-volatile memory, such as disk storage. Alternatively, the memory 1004 may be a storage device independent of the aforementioned processor 1001.

[0082] Those skilled in the art will understand that Figure 3 The terminal structure shown does not constitute a limitation on the terminal and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0083] like Figure 3 As shown, the memory 1004, which serves as a computer storage medium, may include an operating system, a network communication module, and an unmanned slag cleaning program.

[0084] exist Figure 3 In the hardware structure of the unmanned slag cleaning equipment shown, the processor 1001 can call the unmanned slag cleaning program stored in the memory 1004 and perform the following operations:

[0085] The slag area at each loading position in the slag outlet area was detected;

[0086] The slag ratio is calculated based on the slag area and the area of ​​the loading position.

[0087] When the slag ratio is greater than or equal to the preset ratio, the unmanned loader is controlled to move to the preset loader position corresponding to the loading position to be cleaned to carry out slag cleaning operation.

[0088] Optionally, the processor 1001 may invoke the unmanned slag cleaning program stored in the memory 1004, and further perform the following operations:

[0089] The control field environmental sensing module collects images of the slag outlet area and images of preset calibration objects;

[0090] Detect the area of ​​slag in the image of the slag outlet region;

[0091] The actual slag area is determined based on the image of the slag outlet area, the image of the preset calibration object, and the slag area in the image.

[0092] Optionally, the processor 1001 may invoke the unmanned slag cleaning program stored in the memory 1004, and further perform the following operations:

[0093] When the slag ratio is greater than or equal to the preset ratio, the current position of the loader is obtained;

[0094] Adjust the current position according to the preset loader position, and control the loader to perform the slag cleaning operation.

[0095] Optionally, the processor 1001 may invoke the unmanned slag cleaning program stored in the memory 1004, and further perform the following operations:

[0096] When the number of loading positions to be cleaned is two or more, obtain the ratio of each slag.

[0097] The slag ratios are sorted from largest to smallest to generate the corresponding cleaning order for the loading positions to be cleaned.

[0098] The loader is controlled to perform the slag cleaning operation according to the cleaning sequence.

[0099] Optionally, the processor 1001 may invoke the unmanned slag cleaning program stored in the memory 1004, and further perform the following operations:

[0100] Obtain the preset loader position corresponding to the first position in the cleaning sequence, control the loader to run to the preset loader position, and perform the slag cleaning operation;

[0101] After completing the slag cleaning operation corresponding to the first priority, the preset loader position corresponding to the second priority in the cleaning sequence is obtained, and the loader is controlled to run to the preset loader position to perform the slag cleaning operation until the slag cleaning task of each loading position in the cleaning sequence is completed.

[0102] Optionally, the processor 1001 may invoke the unmanned slag cleaning program stored in the memory 1004, and further perform the following operations:

[0103] After the loader reaches the position corresponding to the preset loader posture, control the bucket to touch the ground and scoop forward;

[0104] After the preset stopping conditions are met, the loader is controlled to stop moving forward and the bucket is retracted;

[0105] The loader is controlled to transfer the slag to the slag storage area.

[0106] Optionally, the processor 1001 may invoke the unmanned slag cleaning program stored in the memory 1004, and further perform the following operations:

[0107] When it is detected that the loader cannot continue moving forward within a preset time, it is determined that the preset stopping condition has been met; or...

[0108] When it is detected that the loader has started to travel a preset distance from the preset loader position, it is determined that the preset stopping condition is met;

[0109] After the preset stopping conditions are met, a stop forward command is sent to the loader, and the bucket is retracted.

[0110] Optionally, the processor 1001 may invoke the unmanned slag cleaning program stored in the memory 1004, and further perform the following operations:

[0111] Detect whether the slag outlet performs slag dumping within a preset time;

[0112] If so, after the slag is dumped at the slag outlet, the unmanned loader is then controlled to move to the preset loader position corresponding to the loading position to be cleaned for slag cleaning operation.

[0113] In addition, to achieve the above objectives, embodiments of the present invention also provide a terminal device, including a memory, a processor, and an unmanned slag cleaning program stored in the memory and executable on the processor. When the processor executes the unmanned slag cleaning program, it implements the unmanned slag cleaning method as described above.

[0114] In addition, to achieve the above objectives, embodiments of the present invention also provide a computer-readable storage medium storing an unmanned slag cleaning program, wherein when the unmanned slag cleaning program is executed by a processor, the unmanned slag cleaning method described above is implemented.

[0115] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0116] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0117] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0118] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

Claims

1. An unmanned slag cleaning method, characterized in that, The unmanned slag cleaning method includes the following steps: The slag area at each loading position in the slag outlet area was detected; The slag ratio is calculated based on the slag area and the area of ​​the loading position; When the slag ratio is greater than or equal to a preset ratio, the unmanned loader is controlled to move to the preset loader position corresponding to the loading position to be cleaned to perform slag cleaning operation; when there are two or more loading positions to be cleaned, the slag ratios of each position are obtained; the slag ratios are sorted from largest to smallest to generate the corresponding cleaning order of the loading positions to be cleaned; the loader is controlled to perform the slag cleaning operation according to the cleaning order. The step of detecting the slag area at each loading position in the slag outlet region includes: The control field environmental sensing module collects images of the slag outlet area and images of preset calibration objects; Detect the area of ​​slag in the image of the slag outlet region; The actual slag area is determined based on the image of the slag outlet area, the image of the preset calibration object, and the slag area in the image.

2. The unmanned slag cleaning method as described in claim 1, characterized in that, The step of controlling the unmanned loader to move to the preset loader position corresponding to the slag cleaning position to perform slag cleaning operation when the slag ratio is greater than or equal to the preset ratio includes: When the slag ratio is greater than or equal to the preset ratio, the current position of the loader is obtained; Adjust the current position of the loader according to the preset loader position, and control the loader to perform the slag cleaning operation.

3. The unmanned slag cleaning method as described in claim 1, characterized in that, The steps of controlling the loader to perform the slag cleaning operation according to the cleaning sequence include: Obtain the preset loader position corresponding to the first position in the cleaning sequence, control the loader to run to the preset loader position, and perform the slag cleaning operation; After completing the slag cleaning operation corresponding to the first priority, the preset loader position corresponding to the second priority in the cleaning sequence is obtained, and the loader is controlled to run to the preset loader position to perform the slag cleaning operation until the slag cleaning task of each loading position in the cleaning sequence is completed.

4. The unmanned slag cleaning method as described in claim 1, characterized in that, The steps of controlling the unmanned loader to move to the preset loader position corresponding to the loading position to be cleaned and to perform slag cleaning operations include: After the loader reaches the position corresponding to the preset loader posture, control the bucket to touch the ground and scoop forward; After the preset stopping conditions are met, the loader is controlled to stop moving forward and the bucket is retracted; The loader is controlled to transfer the slag to the slag storage area.

5. The unmanned slag cleaning method as described in claim 4, characterized in that, The step of controlling the loader to stop moving forward and retracting the bucket after the preset stopping conditions are met includes: When it is detected that the loader cannot continue moving forward within a preset time, it is determined that the preset stopping condition has been met; or... When it is detected that the loader has started to travel a preset distance from the preset loader position, it is determined that the preset stopping condition is met; After the preset stopping conditions are met, a stop forward command is sent to the loader, and the bucket is retracted.

6. The unmanned slag cleaning method as described in claim 1, characterized in that, Before the step of controlling the unmanned loader to move to the preset loader position corresponding to the slag cleaning position to perform the slag cleaning operation, the following steps are included: Detect whether the slag outlet performs slag dumping within a preset time; If so, wait for the slag outlet to complete the slag dumping before controlling the unmanned loader to move to the preset loader position corresponding to the loading position to be cleaned for slag cleaning operation.

7. A terminal device, characterized in that, The system includes a memory, a processor, and an unmanned slag cleaning program stored in the memory and executable on the processor. When the processor executes the unmanned slag cleaning program, it implements the method described in any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an unmanned slag cleaning program, which, when executed by a processor, implements the method described in any one of claims 1-6.

Images