Unloading control methods, devices, electronic equipment and storage media for loaders

Abstract

This disclosure provides a method, device, electronic equipment, and storage medium for unloading control of a loader. The method includes: during the process of controlling the loader to move towards the target hopper corresponding to the current unloading task, acquiring the positional relationship between the loader's lidar and a reflective medium placed on the target hopper; determining the first pose parameter of the lidar in the hopper coordinate system based on the positional relationship; determining the current pose parameter of the bucket in the hopper coordinate system based on the first pose parameter and the second pose parameter of the loader's bucket in the lidar coordinate system; determining whether a preset unloading condition is met based on the current pose parameter of the bucket in the hopper coordinate system; and if so, controlling the loader to unload towards the target hopper. The technology of this disclosure can improve the accuracy of bucket positioning during the unloading process of the loader and ensure the safety of the bucket.

Description

Technical Field

[0001] This disclosure relates to the field of loader control technology, and in particular to a loader unloading control method, device, electronic equipment and storage medium. Background Technology

[0002] Loaders are widely used mobile transport equipment, typically used for material transport in scenarios such as mining or construction site mixing plants. The operation of a loader generally consists of three parts: shoveling, moving, and unloading. The unloading process requires precise bucket positioning to prevent collisions between the bucket and the hopper or failure to collect material.

[0003] Current loader control technologies typically employ 3D LiDAR for global positioning. This technology requires building a global scene map during the deployment phase, and then controlling the loader's travel route and bucket positioning during the unloading process based on this map. However, the operating scenarios of loaders involve numerous objects, and if the constructed global scene map is not highly accurate, the bucket positioning accuracy based on this map will also be low, thus affecting bucket safety. Summary of the Invention

[0004] The purpose of this disclosure is to provide a method, device, electronic equipment, and storage medium for unloading control of a loader, so as to improve the positioning accuracy of the bucket during the unloading process of the loader and ensure the safety of the bucket.

[0005] This disclosure provides a method for controlling the unloading of a loader. The method includes: during the process of controlling the loader to move towards a target hopper corresponding to the current unloading task, acquiring the positional relationship between the loader's lidar and a target reflective medium set on the target hopper; determining a first pose parameter of the lidar in the hopper coordinate system based on the positional relationship; determining the current pose parameter of the bucket in the hopper coordinate system based on the first pose parameter and a second pose parameter of the loader's bucket in the lidar coordinate system; determining whether a preset unloading condition is met based on the current pose parameter of the bucket in the hopper coordinate system; and if so, controlling the loader to unload material towards the target hopper.

[0006] Secondly, embodiments of this disclosure also provide a loader unloading control device, the device comprising: a position relationship acquisition module, used to acquire the position relationship between the loader's lidar and a target reflective medium set on the target material box during the process of controlling the loader to move towards the target material box corresponding to the current unloading task; a radar pose determination module, used to determine the first pose parameter of the lidar in the material box coordinate system of the target material box according to the position relationship; a bucket pose determination module, used to determine the current pose parameter of the bucket in the material box coordinate system according to the first pose parameter and the second pose parameter of the loader's bucket in the lidar coordinate system; an unloading judgment module, used to determine whether a preset unloading condition is met according to the current pose parameter of the bucket in the material box coordinate system; and an unloading module, used to control the loader to unload material towards the target material box when the judgment result of the unloading judgment module is yes.

[0007] Thirdly, this disclosure also provides an electronic device, including a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the above-described unloading control method for a loader.

[0008] Fourthly, embodiments of this disclosure also provide a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are invoked and executed by a processor, the computer-executable instructions cause the processor to implement the above-described unloading control method for the loader.

[0009] This disclosure provides a loader unloading control method, device, electronic equipment, and storage medium. By setting a target reflective medium on the target hopper, the positional relationship between the loader's lidar and the target reflective medium on the target hopper can be obtained during the control of the loader to move towards the target hopper. Then, based on the positional relationship, the first pose parameter of the lidar in the hopper coordinate system of the target hopper is determined. The second pose parameter of the loader's bucket in the lidar coordinate system is known information (it can be directly read from the lidar). Therefore, based on the first and second pose parameters, the current pose parameter of the bucket in the hopper coordinate system can be determined. The relative positional relationship between the bucket and the target hopper can be accurately located from the current pose parameter. Therefore, based on the current pose parameter of the bucket in the hopper coordinate system, it can be determined whether the preset unloading conditions are met at the current moment. When the unloading conditions are met, the loader is controlled to unload towards the target hopper. This method only involves two local coordinate systems: the radar coordinate system and the hopper coordinate system. It does not involve locating the bucket's pose in the global coordinate system of the unloading scenario. Therefore, it is simple to implement, more reliable, and effectively ensures the safety of bucket unloading. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the specific embodiments of this disclosure or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram of an unloading application scenario provided by an embodiment of the present disclosure;

[0012] Figure 2 A flowchart illustrating a loader unloading control method provided in this embodiment of the disclosure;

[0013] Figure 3 This is a schematic diagram of a bin coordinate system provided in an embodiment of the present disclosure;

[0014] Figure 4 A schematic diagram showing the corresponding parameters of a material bin equipped with multiple reflectors and a lidar, provided in an embodiment of this disclosure;

[0015] Figure 5 A schematic diagram of a laser beam emitted by a lidar and directed to a reflector, provided as an embodiment of this disclosure;

[0016] Figure 6 This is a schematic diagram of the structure of a loader unloading control device provided in an embodiment of the present disclosure;

[0017] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0018] The technical solutions of this disclosure will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this disclosure, not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0019] In mines or construction sites, loaders are used to transport materials. To optimize the loader's operation, the unloading task issued to the loader will indicate the corresponding material bin. The loader's onboard controller or dispatch server can plan the loader's route based on the loader's current location and the bin's location. During the loader's movement, the onboard controller controls the loader's lidar to emit a laser beam, scanning the current scene to locate the loader's position. When the loader approaches the bin, the reflected laser beam from the lidar's emitted laser beam positions the loader's bucket, thereby controlling the bucket to unload material into the bin. For example... Figure 1 The diagram shows a material unloading application scenario. Hoppers i-1, i, i+1, etc. are arranged in sequence, and each hopper is equipped with at least one reflective medium (such as a reflector or reflective strip). i is a positive integer greater than 0. Figure 1 Taking the example of a loader with two reflectors on the side wall of the loader's bucket facing the loader, reflectors HL and HR are respectively located on the left and right sides of the loader. During unloading, a laser beam is emitted from a lidar (such as a 2D lidar) on the front of the loader to scan the position of the reflectors, thereby determining the relative position of the bucket and the loader. To improve the accuracy of bucket positioning during unloading and ensure bucket safety, this disclosure provides a loader unloading control method, device, electronic equipment, and storage medium. Local positioning technology is used to locate the bucket's posture relative to the loader, thereby rationally controlling the unloading process.

[0020] This embodiment provides a method for controlling the unloading of a loader. This method allows the loader to perform unloading tasks via an onboard controller. The onboard controller is installed on the loader and can connect to a dispatch server to receive loading and unloading tasks, as well as synchronize the loader's current location, from the dispatch server. In this embodiment, the loader transports materials via a bucket. A LiDAR sensor can be installed on the front of the loader. The onboard controller updates the bucket's pose parameters relative to the LiDAR sensor in real time; that is, the bucket's pose parameters in the LiDAR's radar coordinate system are known. See also... Figure 2 The flowchart shown illustrates a method for controlling the unloading of a loader, which includes the following steps:

[0021] Step S201: During the process of controlling the loader to move towards the target material box corresponding to the current unloading task, the positional relationship between the loader's lidar and the target reflective medium set on the target material box is obtained.

[0022] The positional relationship between the lidar and the target reflective medium can be determined based on the laser beam emitted by the lidar and the reflected laser beam received. This positional relationship can include the distance between the lidar and the target reflective medium, which can be determined based on the time interval between the emitted and received reflected laser beams.

[0023] The target reflective medium on the target bin can be one or more. Through the target reflective medium, the laser beam emitted by the lidar can be reflected effectively, increasing the intensity of the reflected laser beam and thus ensuring the accuracy of target bin identification.

[0024] The target reflective medium can be placed on one side wall of the target bin, facing the loader. Alternatively, the target reflective medium can be placed on the top surface of one side wall of the bin opening, also facing the loader. The height of the target reflective medium is matched to the height of the lidar to ensure that the laser beam reflected by the lidar can reach the target reflective medium.

[0025] To facilitate the laser radar's emission of laser beams towards the target hopper, the laser radar in this embodiment can be mounted on the front of the loader (e.g., on the center line of the front), with the laser radar positioned below the bucket. The specific location of the laser radar can be determined based on the height of the reflective medium on the target hopper. A mounting box or mounting component for the laser radar can be configured on the front of the loader to house it.

[0026] The speed and direction of the loader's movement toward the target bin can be controlled according to the instructions of the scheduling server, or according to the current relative position between the target bin and the loader.

[0027] Step S202: Determine the first pose parameter of the lidar in the target bin's bin coordinate system based on the above positional relationship.

[0028] The target bin's coordinate system can be determined based on the identified location of the target reflective medium. For example, if there is one target reflective medium on the target bin, the center of the target reflective medium can be determined as the origin of the bin's coordinate system, and the coordinate axes of the bin's coordinate system can be established with the length direction of the target reflective medium as the reference. If there are two target reflective media on the target bin, the center between the two target reflective media can be determined as the origin of the bin's coordinate system, and the coordinate axes of the bin's coordinate system can be established with the arrangement direction of the two target reflective media as the reference.

[0029] The first pose parameter reflects the relative positional relationship between the lidar and the target hopper. Specifically, the first pose parameter can include the lidar's coordinates and rotation angle in the hopper coordinate system.

[0030] Step S203: Based on the first pose parameter and the second pose parameter of the loader bucket in the radar coordinate system of the lidar, determine the current pose parameter of the bucket in the bin coordinate system.

[0031] The second pose parameters of the loader bucket in the radar coordinate system of the lidar can be obtained from the lidar. In this embodiment, the bucket is located above the lidar. Based on the mechanical structure of the bucket and the coordinate system of the lidar, the second pose parameters of the bucket in the radar coordinate system of the lidar can be determined.

[0032] Based on the first pose parameter of the lidar in the target bin's bin coordinate system, the second pose parameter of the bucket in the lidar's radar coordinate system is transformed to obtain the current pose parameter of the bucket in the bin coordinate system.

[0033] Step S204: Determine whether the preset unloading conditions are met based on the current pose parameters of the bucket in the material box coordinate system.

[0034] The preset unloading conditions can be determined based on information such as the size of the target hopper, the material being transported by the loader, and the principle that the bucket can pour material into the target hopper without colliding with it. The current pose parameters of the bucket in the hopper coordinate system reflect the relative positional relationship between the bucket and the target hopper. Therefore, based on the current pose parameters of the bucket in the hopper coordinate system, it can be determined whether the bucket can pour material into the target hopper without colliding with it. That is, the bucket is close to the target hopper but will not collide with it, and the distance between the bucket and the target hopper is within a set range.

[0035] Step S205: If yes, control the loader to unload material into the target hopper.

[0036] If the current position and orientation parameters of the bucket in the bin coordinate system indicate that the preset unloading conditions are met—meaning the bucket can pour material into the target bin without colliding with it—then the loader can be controlled to unload the material into the target bin. If the current position and orientation parameters of the bucket in the bin coordinate system indicate that the preset unloading conditions are not met, the loader can be controlled to continue moving forward and / or adjust the bucket's attitude, etc., based on the current position and orientation parameters of the bucket in the bin coordinate system.

[0037] The aforementioned control of the loader to unload material into the target hopper may include controlling the loader to stop moving, triggering the bucket to tilt the material, and other operations.

[0038] The above method, by setting a reflective medium on the target hopper, allows for the acquisition of the positional relationship between the loader's lidar and the reflective medium during the loader's movement towards the target hopper. Based on this positional relationship, the first pose parameter of the lidar in the hopper's coordinate system is determined. The second pose parameter of the loader's bucket in the lidar's radar coordinate system is known information (directly read from the lidar). Therefore, based on the first and second pose parameters, the current pose parameter of the bucket in the hopper coordinate system can be determined. This current pose parameter accurately pinpoints the relative position between the bucket and the target hopper. Thus, the current pose parameter of the bucket in the hopper coordinate system determines whether the preset unloading conditions are met. If the unloading conditions are met, the loader is controlled to unload material into the target hopper. This method only involves two local coordinate systems—the radar coordinate system and the hopper coordinate system—and does not involve locating the bucket's pose in the global coordinate system of the unloading scenario. Therefore, it is simple to implement, more reliable, and effectively ensures the safety of bucket unloading.

[0039] As one possible implementation, the aforementioned preset unloading conditions include the distance between the bucket and the target hopper being less than a first preset value, and / or the distance between the bucket and the outer wall of the target hopper being greater than a second preset value, so that the bucket and the target hopper do not collide. The distance between the bucket and the target hopper can be the straight-line distance between the origins of the bucket and the target hopper's coordinate system, or the distance between the center of the bucket opening and the target hopper's opening. If this distance is less than the first preset value, it indicates that the bucket and the target hopper are relatively close, and the material is less likely to scatter outside the target hopper during unloading. The distance between the bucket and the outer wall of the target hopper can include the distance between the bucket and each outer wall of the hopper. If this distance is greater than the second preset value, it indicates that the bucket is less likely to collide with the outer wall of the hopper during unloading, ensuring the safety of the unloading process. The magnitudes of the first and second preset values ​​can be determined according to the size of the target hopper.

[0040] As one possible implementation, the method for obtaining the positional relationship between the loader's lidar and the target reflective medium in the target bin includes: controlling the loader's lidar to emit a laser beam towards the target bin and receiving the reflected laser beam from the target reflective medium in the target bin; wherein the target reflective medium is provided on the outer wall of the target bin; and determining the positional relationship between the lidar and the target reflective medium based on the received reflected laser beam. In this embodiment, the reflective intensity of the target reflective medium is high, and the intensity of the reflected laser beam can easily distinguish whether the laser beam is reflected by the target reflective medium, thereby determining the positional relationship between the lidar and the target reflective medium.

[0041] To further improve the accuracy of identifying target reflective media, there are multiple target reflective media. Based on this, determining the positional relationship between the lidar and the target reflective media according to the received reflected laser beam may include the following steps (1) to (3):

[0042] (1) Determine multiple undetermined reflective media based on the beam continuity in each reflective laser beam group, and determine the second distance information between multiple undetermined reflective media; wherein, multiple converging reflective laser beams form a reflective laser beam group, a reflective laser beam group with continuous and effective beam corresponds to an undetermined reflective medium, and the second distance information includes the distance between the reflective laser beam groups corresponding to any two undetermined reflective media respectively.

[0043] The aforementioned beam continuity can be determined by checking the number of laser beams in the same reflected laser beam group whose laser intensity reaches a set value. If the number of laser beams in the same reflected laser beam group whose laser intensity reaches the set value is greater than a set threshold, then the beam of that reflected laser beam group is continuous and can be considered as a laser beam group reflected by the undetermined reflective medium. The set value can be determined based on the intensity of the emitted laser and / or the intensity of the laser reflected by the reflective medium. The aforementioned threshold can be determined based on parameters such as the size of the reflective medium on the target material box and the angular resolution of the laser emitted by the lidar.

[0044] The second distance information between multiple undetermined reflective media can be calculated based on the parameters corresponding to the laser beam group reflected by the undetermined reflective media. The reflected laser beam group will be presented as a point cloud on the lidar. The points corresponding to the laser beam reflected by the same reflective medium are in a convergent state. The converged point cloud can be regarded as a reflected laser beam group. This reflected laser beam group is regarded as a laser beam reflected back by a reflective medium. Since objects with relatively smooth surfaces can reflect lasers, it is not yet certain whether this reflected laser beam group is the laser beam reflected by the aforementioned target reflective medium. Therefore, the reflective medium corresponding to such a reflected laser beam group is called the undetermined reflective medium.

[0045] Based on the continuity of the beams in each reflected laser beam group, multiple undetermined reflective media can be identified. Each undetermined reflective medium corresponds to a reflected laser beam group (i.e., the point cloud that converges as described above). The distance between any two reflected laser beam groups, which is also the distance between any two converged point clouds, is the second distance information mentioned above.

[0046] (2) Based on the first distance information between multiple target reflective media and the second distance information between multiple undetermined reflective media, determine multiple target reflective laser beam groups corresponding to multiple target reflective media; wherein, the first distance information includes the actual distance between any two target reflective media that have been pre-calculated;

[0047] The target material bin has multiple reflective media on its outer wall, and pre-stores the first distance information between these reflective media. This first distance information can be pre-stored on the vehicle controller, or, if the vehicle controller is connected to a scheduling server, it can be pre-stored on the scheduling server. This first distance information is the pre-calculated actual distance between any two target reflective media. In practical applications, the size of the material bin corresponding to the same material is usually known, taking the target material bin as an example. Figure 1 Taking the material bin i shown as an example, assume the target material bin width is W. bb The distances from the left and right reflectors to the edge of the material box i are d and d, respectively. il and d ir The width of the left and right reflectors is ω, and a system is established with the center point of the leading edge of the material box i as the origin. Figure 3 The coordinate system of the feed box is shown, and the left and right reflectors are in the coordinate system of the feed box. The coordinates in the diagram are represented as follows:

[0048]

[0049]

[0050] Material box coordinate system It can be based on the coordinate system of the current scene map, where the first distance information mentioned above is the actual distance between the left and right reflectors (dist). real It can be represented as:

[0051] dist real =W bb -d il -d ir -ω

[0052] Alternatively, the aforementioned first distance information can also be obtained by measuring the center positions of the left and right reflectors.

[0053] If the target bin is equipped with multiple reflective media, the first distance information between each pair of reflective media can be determined by a method similar to the measurement and calculation described above.

[0054] The aforementioned reflected laser beam group consists of laser beams emitted by the lidar and reflected back from objects in the scene. Typically, laser beams reflected back from the same object are clustered together, while laser beams reflected back from different objects are more dispersed. In this embodiment, such clustered reflected laser beams are referred to as reflected laser beam groups.

[0055] During the movement of the loader, the vehicle controller can control the loader's lidar to emit a laser beam group based on the distance between the loader and the target hopper. Alternatively, the vehicle controller can also control the loader's lidar to emit a laser beam group under the trigger command of the scheduling server.

[0056] The first distance information between the aforementioned target reflective media is the actual distance between the reflective media on the target hopper, and this first distance information is reliable. Multiple undetermined reflective media are media corresponding to reflective laser beam groups that meet the beam continuity requirement. These undetermined reflective media may contain interfering objects and also have strong reflective capabilities. To reduce misjudgment of reflective media, this embodiment, based on determining the undetermined reflective media through laser intensity, further determines the second distance information between each pair of undetermined reflective media. Therefore, the second distance information is the value calculated by the vehicle controller based on the reflective laser beam group of the lidar during the unloading process. If there is a second distance information that matches the first distance information, then the undetermined reflective media and reflective laser beam group corresponding to the matching second distance information are the target reflective media and the target reflective laser beam group corresponding to that target reflective media.

[0057] (3) Determine the positional relationship between the lidar and the reflective medium of multiple targets based on the laser beams reflected from multiple targets; wherein the positional relationship includes distance information.

[0058] The above positional relationships mainly characterize the relative positional relationship between the lidar and the target reflective medium, and the angular relationship between the lidar's axis and the target reflective medium. Continuing with... Figure 3 For example, the distance from the laser radar to the center positions of the left and right reflectors at time t is represented by the line segment r. tl and r tr This indicates that the lidar axis and line segment r tl and r tr The included angle is δ tl and δ tr Positional relationships can include Figure 3 The line segment r shown tl and r tr This indicates that the lidar axis and line segment r tl and r tr The included angle is δ tl and δ tr .

[0059] In practice, the first pose parameter of the lidar in the bin coordinate system of the target bin can be determined based on the above positional relationship and the first distance information between multiple target reflective media.

[0060] Based on the first distance information between the target reflective media, the coordinate system of the target bin can be constructed, such as... Figure 3 coordinate system O bbi Based on the positional relationship, the position and angle information of the lidar relative to the target hopper can be determined, and the first pose parameter of the lidar in the hopper coordinate system of the target hopper can be determined based on the position and angle information.

[0061] Continuing from the previous example, Figure 3 As shown in the example, assume the lidar is in the material box coordinate system. The coordinates in are Rotation angle is The process of calculating the first pose parameter at time t is actually solving for... The process involves solving the pose transformation from the radar coordinate system to the hopper coordinate system. The process.

[0062] p t =(r tl +r tr +dist real ) / 2

[0063]

[0064] Where, p t S is an intermediate variable used in Heron's formula. t It is the area of ​​the triangle, which can be obtained using the formula for the area of ​​a triangle:

[0065] x t =v2S t / dist real

[0066] If |x t / r tr |≥1:

[0067]

[0068] otherwise:

[0069]

[0070] Finally, there is:

[0071]

[0072] Substituting the positional relationship between the lidar and multiple reflective media, and the actual distance between the reflective media on the target bin, into the above formula... This allows us to obtain the first pose parameter of the lidar at time t in the target bin's bin coordinate system.

[0073] After obtaining the first pose parameter, the current pose parameter of the bucket in the bin coordinate system is determined based on the first pose parameter and the second pose parameter of the loader bucket in the radar coordinate system of the lidar.

[0074] Among them, the second pose parameter of the bucket in the radar coordinate system is known. This parameter can be determined based on information such as the physical structure of the bucket, the positional relationship between the bucket and the front vehicle body, the current controlled bucket height, and the location of the lidar (such as the positional relationship between the lidar and the front vehicle body). Therefore, determining the current pose parameter of the bucket in the bin coordinate system based on the first pose parameter and the second pose parameter of the loader's bucket in the lidar's radar coordinate system includes: the current pose parameter of the loader's bucket in the bin coordinate system. Determined by the following formula:

[0075]

[0076] in, Let the first pose parameter be denoted by . These are the second pose parameters of the bucket in the radar coordinate system of the lidar.

[0077] The aforementioned method identifies the reflective medium to be determined by beam continuity, and determines the target laser beam group reflected by the reflective medium on the target hopper based on the pre-stored first distance information between the target reflective media and the calculated second distance information between the reflective media to be determined. This ensures that even if there are highly reflective media in the unloading scenario, they will not be misjudged as target reflective media because their corresponding second distance information differs from the first distance information, thus improving the accuracy of identifying reflective media on the hopper. Simultaneously, by converting the second pose parameters of the bucket in the radar coordinate system to the current pose parameters in the hopper coordinate system, the relative positional relationship between the bucket and the target hopper can be accurately determined. Furthermore, this method only involves two local coordinate systems—the radar coordinate system and the hopper coordinate system—and does not involve locating the bucket's pose in the global coordinate system of the unloading scenario. Therefore, it is simple to implement, more reliable, and effectively ensures the safety of bucket unloading.

[0078] The above method can be applied to both driver-operated loaders and unmanned loaders. During the unloading process of unmanned loaders, there may be a small amount of floating dust in the air, and long-term operation may also cause the reflector itself to become contaminated, which may affect the effect of identifying reflective media. Based on this, this embodiment sets two parameters, startnum and stopnum. startnum represents the minimum number of laser points required to form the same reflective media (such as a reflector). This parameter will change dynamically as the loader moves to improve positioning accuracy. stopnum represents the minimum number of laser points to stop identification. This parameter can change dynamically with the change of startnum and is mainly used to remove laser beam groups reflected by reflective media that are not the target material box. Accordingly, the above determination of multiple undetermined reflective media based on the continuity of the beams in each reflective laser beam group may include the following steps (1) to (3):

[0079] (1) Based on the distance from the laser radar to the target bin determined most recently, determine the first dynamic threshold (equivalent to the above startnum) and the second dynamic threshold (equivalent to the above stopnum); wherein, the first dynamic threshold represents the minimum number of laser points required to constitute the same target reflective medium, and the second dynamic threshold represents the minimum number of laser points required to stop identifying the current reflective laser beam group.

[0080] The distance between the most recently determined lidar and the target hopper can be determined based on the positions of the loader and the target hopper on the scene map, or based on the relevant parameters of the reflected laser beam group corresponding to the reflective medium of the target identified in the previous lidar scan. The first dynamic threshold and the second dynamic threshold are negatively correlated with the distance between the lidar and the target hopper; that is, the smaller the distance between the lidar and the target hopper, the larger the first dynamic threshold and the second dynamic threshold, and the first dynamic threshold is greater than the second dynamic threshold.

[0081] (2) Determine whether the beams of each reflected laser beam group are continuous and effective based on the first dynamic threshold and the second dynamic threshold.

[0082] For each reflected laser beam group, the light intensity is checked. If the light intensity of at least one of the checked laser beams is below the intensity threshold (second dynamic threshold), then there is no need to check the reflected laser beam group again. For each checked reflected laser beam group, if the number of laser beams with intensity greater than the intensity threshold is greater than or equal to the first dynamic threshold, then the reflected laser beam group is considered to have continuous and effective beams.

[0083] (3) The reflective medium corresponding to the continuous and effective reflection of the laser beam is determined as the reflective medium to be determined.

[0084] By using the first dynamic threshold among the two dynamic thresholds mentioned above, the problem of misjudging reflective media caused by a very small number of highly reflective particles that may exist in the air can be reduced. By using the second dynamic threshold, noise in the reflected laser beam group can be removed, thereby improving the robustness of the algorithm.

[0085] As one possible implementation, determining the first dynamic threshold and the second dynamic threshold based on the distance of the most recent laser radar to the target hopper may include: determining the first dynamic threshold based on the distance of the most recent laser radar to the target hopper, the size of the target reflective medium, and the scanning parameters of the laser radar, and then determining the second dynamic threshold based on the first dynamic threshold. For example, performing a square root operation on the first dynamic threshold to obtain a first intermediate value; and rounding the first intermediate value to obtain the second dynamic threshold.

[0086] The scanning parameters of a lidar system can include: scanning angle, angular resolution, and distance sampling interval. The scanning angle refers to the maximum angular range that the laser beam can reach; angular resolution specifically refers to the angular interval between two adjacent laser scanning points, usually measured in degrees (°). The smaller the angular resolution, the more laser points are distributed per unit spatial angle, and the stronger its object-resolving ability. At the same angular resolution, for the same object, the farther away it is, the fewer laser points are detected. See also... Figure 4 The diagram shows a laser beam emitted by a lidar and directed towards a reflector. The lidar emits a laser beam towards the reflector at a set scanning angle. A portion of the laser beam is received by the reflector. As the distance between the lidar and the reflector decreases, more and more laser beams are received by the reflector.

[0087] The aforementioned distance sampling interval refers to the distance between the current scan of the laser radar and the previous scan of the target bin.

[0088] For example: the first dynamic threshold at time t

[0089] Where, r t-1 Let θ be the distance from the laser radar to the target reflective medium at time t-1. This distance can be represented by the distance from the laser radar to the target bin. θ represents the scanning angle of the laser radar, Δθ represents the angular resolution of the laser radar, ω represents the width of the target reflector, and ΔR represents the distance sampling interval of the laser radar.

[0090] The second dynamic threshold can be the first dynamic threshold divided by or subtracted from a preset value, which can be determined empirically. Alternatively, the second dynamic threshold can also be determined in other ways, such as the second dynamic threshold at time t. The function `floor` is to "round down", that is, to take the largest integer not greater than the value inside the parentheses.

[0091] By following the above method, the first dynamic threshold and the second dynamic threshold can be updated each time the bucket is positioned, thereby reducing the impact of interference factors such as dust while ensuring normal detection of reflective media, and further improving the robustness of the algorithm.

[0092] As one possible implementation, determining whether the beams of each reflected laser beam group are continuously effective based on a first dynamic threshold and a second dynamic threshold may include: checking whether the beam intensity in the reflected laser beam group is greater than a preset intensity threshold; if yes, incrementing the first value corresponding to the effective laser beam by 1; if no, incrementing the second value of the ineffective laser beam by 1; when the second value is greater than or equal to the second dynamic threshold, or when the beams in the reflected laser beam group have all been checked and the process is complete, if the first value is greater than or equal to the first dynamic threshold, determining that the beams of the reflected laser beam group are continuously effective. The effective laser beam can have a laser intensity of I reflected by the reflective medium, and the intensity threshold I to be detected can be set. h =0.8I, when the intensity I of the actual laser beam r Satisfy I r ≥I h When the laser beam is in use, it is determined to be a valid laser beam.

[0093] The aforementioned determination of the continuity of reflected laser beams can be specifically described as follows: for each group of reflected laser beams, start traversing from the first group of reflected laser beams (i.e., the group of reflected laser beams corresponding to the initial scanning angle of the lidar), and let the current laser beam be s, and the effective laser beam be s. eff The number is m, and the number of invalid laser beams is s. inv The quantity is n. If s is s eff If m is incremented by one and n is set to 0; if s is s inv If n is incremented by one, and n ≥ stopnum or the laser beam traversal of the reflected laser beam group ends, check the relationship between m and startnum. If m ≥ startnum, determine that the m-beam laser beam group is continuous and effective. Finally, set m and n to 0 to traverse the next reflected laser beam group again.

[0094] If n < stopnum, it means that the number of consecutive invalid laser points is insufficient to end the inspection of the current reflected laser beam group. Further inspection of the remaining laser beams is needed to determine whether the medium corresponding to the reflected laser beam group is a medium to be determined. If m < startnum, it means that the number of consecutive valid laser points is insufficient to start the inspection of the next reflected laser beam group. Further inspection of the remaining laser beams in the current reflected laser beam group is needed to determine whether the medium corresponding to the reflected laser beam group is a medium to be determined.

[0095] The above-mentioned method of checking the reflected laser beam group by using the first dynamic threshold and the second dynamic threshold can reduce the influence of interference factors such as dust and improve the robustness of the algorithm while ensuring normal detection of reflective media.

[0096] As one possible implementation, determining the second distance information between multiple undetermined reflective media may include: determining the distance angle parameter between the undetermined reflective media and the lidar based on the center beam of the reflected laser beam group corresponding to the undetermined reflective media, the distance angle parameter including a third distance between the undetermined reflective media and the lidar and a first angle between the center beam and the axis of the lidar; combining multiple undetermined reflective media in pairs to obtain at least one undetermined reflective media group; and determining the second distance information between two undetermined reflective media in the undetermined reflective media group based on the distance angle parameters corresponding to two undetermined reflective media in the undetermined reflective media group respectively. Continuing with... Figure 3 For example, the distance from the laser radar to the center positions of the left and right reflectors at time t (equivalent to the third distance mentioned above) is represented by the line segment r. tl and r tr This indicates that the lidar axis and line segment r tl and r tr The included angle (equivalent to the first angle mentioned above) is δ tl and δ tr According to the law of cosines, the distance between the left and right reflectors is dist. t (That is, the second distance information mentioned above, also known as the second distance) is:

[0097]

[0098] If the target bin is equipped with multiple reflective media, the second distance information between each pair of reflective media can be determined using a method similar to the calculations described above. See also Figure 5 The diagram shown illustrates the corresponding parameters of a material bin equipped with multiple reflectors and a lidar system. The width of the material bin is W. bb Three reflectors are evenly spaced on one side of the material bin, with their midpoints denoted as points A, B, and C. The origin of the material bin's coordinate system coincides with point B. The origin O of the lidar's coordinate system can be determined based on the target laser beam reflected by the reflectors. lidar The distances between points A, B, and C, and AO lidar、 BO lidar CO lidar The angle between the laser radar axis and the laser radar axis is used to calculate the second distance between the two reflectors according to the cosine theorem.

[0099] The above method can accurately calculate the second distance information between two reflective media based on the distance and angle corresponding to the reflective media to be determined, thus ensuring the accuracy of target reflective media identification.

[0100] As one possible implementation, there are two target reflective media. Determining multiple target reflective media corresponding to multiple target reflective media based on first distance information between multiple target reflective media and second distance information between multiple undetermined reflective media includes: for the second distance information between multiple undetermined reflective media, subtracting the first distance information between two target reflective media from each second distance information and taking the absolute value of the difference; determining the reflective laser beam group corresponding to the second distance information whose absolute value is less than a preset value as the two target reflective laser beam groups corresponding to the two target reflective media. For example: when the relationship between the second distance information between undetermined reflective media and the first distance information between two target reflective media does not satisfy the condition that the absolute value is less than a preset value, it indicates that at least one of the undetermined reflective media has been incorrectly identified, and the comparison of the next set of second distance information continues until a second distance information with an absolute value less than a preset value is found. An absolute value less than (or equal to) a preset value can be expressed as |dist real -dist t |≤ a preset value, which can be set based on the width of the reflective medium and experience, such as 0.6, 0.7, etc. Using two reflective media in the target bin is simpler to implement than using more than two, and places lower demands on the scanning angle of the lidar. By comparing the absolute values ​​of the differences in the distances described above, the two target reflected laser beam groups can be determined more accurately.

[0101] If there are two reflective media, the above method of determining the positional relationship between the laser radar and the reflective media based on the received reflected laser beams may include the following steps: (1) determining the fourth and fifth distances between the laser radar and the center of the two reflective media based on the two sets of reflected laser beams; for example Figure 3 Distance r in tl and r tr (2) Determine the second and third angles formed by the two target reflected laser beam groups and the axis of the lidar; for example Figure 3 The included angle δ tl and δ tr (3) Determining the positional relationship between the lidar and the two reflective media includes the fourth distance, the fifth distance, the second angle, and the third angle. The distance and angle information determined by the laser beam group reflected by the target can reflect the relative positional relationship between the lidar and the reflective media, which is beneficial for subsequent bucket positioning.

[0102] In one possible implementation, there are two target reflective media. Accordingly, determining the first attitude parameter of the lidar in the target bin's coordinate system based on the aforementioned positional relationship includes: determining the first attitude parameter of the lidar in the target bin's coordinate system based on the aforementioned positional relationship and the first distance information between the two target reflective media; wherein, the first distance information includes the pre-calculated actual distance between the two target reflective media. Because the first distance information between the two target reflective media includes the pre-calculated actual distance between the two target reflective media, and the error of the calculated actual distance can be controlled to be very small, using this actual distance to determine the first attitude parameter of the lidar in the target bin's coordinate system results in a smaller error compared to using the distance between the reflected laser beam groups corresponding to the target reflective media to determine the first attitude parameter.

[0103] As one possible implementation, determining the first pose parameter of the lidar in the target bin's bin coordinate system based on the aforementioned positional relationship and the first distance information between the two target reflective media includes: based on the aforementioned positional relationship and the first distance information between the two target reflective media, and the pose transformation relationship from the lidar's radar coordinate system to the target bin's bin coordinate system (as described above) Figure 3 corresponding The first pose parameter of the lidar in the bin coordinate system is determined; this first pose parameter includes the current coordinates of the lidar in the bin coordinate system. and / or rotation angle In this embodiment, the pose transformation relationship between the lidar coordinate system and the target bin's bin coordinate system can be predetermined. The specific determination process can be found in the above description. In this embodiment, when there are two target reflective media, the positional relationship between the lidar and the two target reflective media and the first distance information between the two target reflective media are directly substituted into the pose transformation relationship to obtain the first pose parameter of the lidar in the material box coordinate system. In this process, only the first distance information between the two target reflective media and the positional relationship determined by the target reflected laser beam group need to be determined in advance. There is no need to rely too much on the global scene map. Therefore, the accuracy of the first position parameter is high.

[0104] Taking two reflective media as the target reflective medium as an example, the above method can measure the width of both reflectors (ω) and the distances from the two reflectors to the edge of the material box i (d) during the scene deployment phase. il and d ir The width of bin i is W bb And establish a material box coordinate system with the center point of the leading edge of hopper i as the origin. The true distance between the two reflectors (dist) can then be calculated in this coordinate system. real =W bb -dil -d ir -ω. Then, using the aforementioned local positioning method, the positional relationship between the loader's bucket and the hopper i is determined. This does not require pose transformation via a global map; instead, it is achieved through the relative poses of the identified reflector and the LiDAR. The pose relationship requiring manual measurement during this process is primarily the position of the reflector within the hopper i, and this measurement accuracy can reach the millimeter level. Therefore, the method proposed in this embodiment can reduce the magnitude of errors and the difficulty of deployment while maintaining the same number of error sources.

[0105] The aforementioned number of reflectors can further constrain the reflector recognition process. For bin i, there are two reflectors. During the detection process, due to the limitation of startnum, reflectors further away will not be considered as reflectors of the current bin. Therefore, the above method will always ensure that only two reflectors are used to calculate the pose parameters of the bucket relative to the bin. If the number of reflectors obtained during the detection process is inconsistent with the actual number of reflectors set on the bin, then the LiDAR scan is abnormal and needs to be re-scanned to obtain accurate data.

[0106] During the deployment phase, the dimensional parameters of the reflective media on each bin can be saved. For example, a reflector list can be set up, containing bin identifiers, the number of reflectors corresponding to each bin, and the actual distance between reflectors. During actual unloading, the vehicle controller can obtain the aforementioned first distance information from the reflector list and then perform subsequent reflector detection and identification. When the loader enters the unloading state, the distance from the laser radar to the reflector is r. t-1 The coordinate system of the material bin can be obtained. To the lidar coordinates {O lidar The Euclidean distance is used to determine the two parameters startnum and stopnum corresponding to the current time t. Dynamic changes to startnum and stopnum can reduce the problem of reflective media being undetected due to contamination, and further improve the robustness of reflective media identification while ensuring normal detection.

[0107] Corresponding to the above method, this disclosure also provides a loader unloading control device, which can be installed on the aforementioned vehicle-mounted controller to control the loader to perform unloading tasks. See [link to relevant documentation]. Figure 6 The device includes:

[0108] The position relationship acquisition module 61 is used to acquire the position relationship between the lidar of the loader and the target reflective medium of the target material box during the process of controlling the loader to move towards the target material box corresponding to the current unloading task;

[0109] The radar pose determination module 62 is used to determine the first pose parameter of the lidar in the coordinate system of the target hopper based on the positional relationship.

[0110] The bucket pose determination module 63 determines the current pose parameters of the bucket in the bin coordinate system based on the first pose parameters and the second pose parameters of the loader bucket in the radar coordinate system of the lidar.

[0111] The unloading judgment module 64 is used to determine whether the preset unloading conditions are met based on the current pose parameters of the bucket in the coordinate system of the hopper.

[0112] The unloading module 65 is used to control the loader to unload material into the target hopper when the judgment result of the unloading judgment module is yes.

[0113] The aforementioned device, by setting a reflective medium on the target hopper, can acquire the positional relationship between the loader's lidar and the reflective medium during the loader's movement towards the target hopper. Based on this positional relationship, it determines the lidar's first pose parameter in the hopper's coordinate system. The loader's bucket's second pose parameter in the lidar's radar coordinate system is known information (it can be directly read from the lidar). Therefore, based on the first and second pose parameters, the bucket's current pose parameter in the hopper coordinate system can be determined. This current pose parameter accurately locates the relative position between the bucket and the target hopper. Thus, based on the bucket's current pose parameter in the hopper coordinate system, it can be determined whether the preset unloading conditions are met. If the unloading conditions are met, the loader is controlled to unload material into the target hopper. This method only involves two local coordinate systems—the radar coordinate system and the hopper coordinate system—and does not involve locating the bucket's pose in the global coordinate system of the unloading scenario. Therefore, it is simple to implement, more reliable, and effectively ensures the safety of bucket unloading.

[0114] As one possible implementation, the aforementioned preset unloading conditions include the distance between the bucket and the target hopper being less than a first preset value, and / or the distance between the bucket and the outer wall of the target hopper being greater than a second preset value, so that the bucket and the target hopper do not collide. The distance between the bucket and the outer wall of the target hopper can include the distance between the bucket and each of the outer walls of the hopper. If this distance is greater than the second preset value, it indicates that the bucket is less likely to collide with the outer wall of the hopper during unloading, ensuring the safety of the unloading process. The magnitude of the first and second preset values ​​can be determined according to the size of the target hopper.

[0115] In one possible implementation, the position relationship acquisition module 61 is further configured to control the loader's lidar to emit a laser beam toward the target bin and receive the reflected laser beam from the target reflective medium of the target bin; wherein, the target reflective medium is provided on the outer wall of the target bin; the position relationship between the lidar and the target reflective medium is determined based on the received reflected laser beam. Because the reflective intensity of the target reflective medium is high, it is relatively easy to distinguish whether the laser beam is reflected by the target reflective medium based on the intensity of the reflected laser beam, thereby determining the position relationship between the lidar and the target reflective medium.

[0116] As one possible implementation, the aforementioned positional relationship acquisition module 61 is further configured to determine multiple undetermined reflective media based on the beam continuity in each reflective laser beam group, and to determine second distance information between the multiple undetermined reflective media; wherein, multiple converging reflective laser beams form a reflective laser beam group, a reflective laser beam group with continuous and effective beams corresponds to one undetermined reflective medium, and the second distance information includes the distance between the reflective laser beam groups corresponding to any two undetermined reflective media; based on the first distance information between the multiple target reflective media and the second distance information between the multiple undetermined reflective media, multiple target reflective laser beam groups corresponding to the multiple target reflective media are determined; wherein, the first distance information includes the pre-calculated actual distance between any two target reflective media; based on the multiple target reflective laser beam groups, the positional relationship between the lidar and the multiple target reflective media is determined; wherein, the positional relationship includes distance information. By using the first dynamic threshold of the above two dynamic thresholds, the problem of misjudging reflective media caused by a very small number of highly reflective particles that may exist in the air can be reduced, and by using the second dynamic threshold, noise in the reflective laser beam groups can be removed, improving the robustness of the algorithm.

[0117] As one possible implementation, the position relationship acquisition module 61 is further configured to determine a first dynamic threshold and a second dynamic threshold based on the most recently determined distance between the laser radar and the target hopper; wherein, the first dynamic threshold represents the minimum number of laser points required to constitute the same target reflective medium, and the second dynamic threshold represents the minimum number of laser points required to stop identifying the current reflective laser beam group; determine whether the beams of each reflective laser beam group are continuously effective based on the first dynamic threshold and the second dynamic threshold; and determine the reflective medium corresponding to the reflective laser beam group with continuously effective beams as the undetermined reflective medium.

[0118] As one possible implementation, the positional relationship acquisition module 61 is further configured to determine a first dynamic threshold based on the distance of the most recent laser radar to the target hopper, the size of the target reflective medium, and the scanning parameters of the laser radar; perform a square root operation on the first dynamic threshold to obtain a first intermediate value; and round the first intermediate value to obtain a second dynamic threshold. This method can update the first and second dynamic thresholds each time the bucket is positioned, thereby reducing the influence of interference factors such as dust while ensuring normal detection of reflective medium, and further improving the robustness of the algorithm.

[0119] As one possible implementation, the positional relationship acquisition module 61 is further configured to check whether the beam intensity in the reflected laser beam group is greater than a preset intensity threshold; if so, the first value corresponding to the effective laser beam is incremented by 1; if not, the second value of the invalid laser beam is incremented by 1; when the second value is greater than or equal to the second dynamic threshold, or when the beams in the reflected laser beam group have all been checked and the check is completed, if the first value is greater than or equal to the first dynamic threshold, it is determined that the beams in the reflected laser beam group are continuously effective. By checking the reflected laser beam group using the first dynamic threshold and the second dynamic threshold, the influence of interference factors such as dust can be reduced and the robustness of the algorithm can be improved while ensuring normal detection of reflective media.

[0120] As one possible implementation, the aforementioned positional relationship acquisition module 61 is further configured to: determine the second distance information between multiple undetermined reflective media, including: determining the distance angle parameters between the undetermined reflective media and the lidar based on the center beam of the reflected laser beam group corresponding to the undetermined reflective media, wherein the distance angle parameters include a third distance between the undetermined reflective media and the lidar and a first angle between the center beam and the axis of the lidar; combining multiple undetermined reflective media in pairs to obtain at least one undetermined reflective media group; and determining the second distance information between two undetermined reflective media in the undetermined reflective media group based on the distance angle parameters corresponding to the two undetermined reflective media respectively. The accurate calculation of the second distance information between pairs of reflective media based on the distance and angle corresponding to the undetermined reflective media ensures the accuracy of target reflective media identification.

[0121] In one possible implementation, there are two target reflective media. Correspondingly, the positional relationship acquisition module 61 is further configured to: for the second distance information between the plurality of undetermined reflective media, subtract the first distance information between the two target reflective media from each of the second distance information and take the absolute value of the difference; and determine the reflected laser beam groups corresponding to the second distance information whose absolute value is less than a preset value as the two target reflected laser beam groups corresponding to the two target reflective media. By comparing the absolute values ​​of the distance differences, the two target reflected laser beam groups can be determined relatively accurately.

[0122] As one possible implementation, there are two target reflective media. Correspondingly, the positional relationship acquisition module 61 is further configured to: determine a fourth and a fifth distance between the laser radar and the centers of the two target reflective laser beam groups; determine a second and a third angle between the two target reflective laser beam groups and the axis of the laser radar; and determine the positional relationship between the laser radar and the two target reflective media, including the fourth distance, the fifth distance, the second angle, and the third angle. The distance and angle information determined by the target reflective laser beam groups reflects the relative positional relationship between the laser radar and the target reflective media, which is beneficial for subsequent bucket positioning.

[0123] As one possible implementation, there are two target reflective media; the radar pose determination module 62 is further configured to: determine the first pose parameter of the lidar in the bin coordinate system of the target bin based on the positional relationship and the first distance information between the two target reflective media; wherein, the first distance information includes the actual distance between the two target reflective media that has been pre-calculated.

[0124] As one possible implementation, the radar pose determination module 62 is further configured to: determine the first pose parameter of the laser radar in the bin coordinate system based on the positional relationship, the first distance information between the two target reflective media, and the pose transformation relationship from the radar coordinate system of the laser radar to the bin coordinate system of the target bin; the first pose parameter includes: the current coordinates and / or rotation angle of the laser radar in the bin coordinate system. This process only requires pre-determining the first distance information between the two target reflective media and the positional relationship determined by the target reflected laser beam group, without relying too much on the global scene map; therefore, the accuracy of the first position parameter is high.

[0125] As one possible implementation, the bucket pose determination module 63 is further used to determine the current pose parameters of the loader's bucket in the hopper coordinate system. Determined by the following formula:

[0126]

[0127] in, Let the first pose parameter be denoted by . The second pose parameter of the bucket in the radar coordinate system of the lidar is given.

[0128] The aforementioned lidar is mounted on the front of the loader, and is located below the bucket. This arrangement facilitates the lidar's emission of a laser beam towards the target material box.

[0129] The aforementioned material box can also be a hopper or silo, etc., for storing materials. The size and location of the reflective medium are determined according to the actual shape of the device. The shape of the reflective medium can be rectangular.

[0130] To further verify the effectiveness of the above method, an experiment was conducted by navigating a loader from 10m to 3m away from the hopper for unloading. Using the above control method, the measured deviation of the laser positioning bucket is shown in Table 1. When the distance is 5m and 3m, the deviation in the y-direction is 0.009m and 0.022m, respectively. The y-direction actually represents the lateral deviation of the bucket. This lateral deviation will largely determine whether the bucket and the hopper will collide during the unloading process. The lateral deviations are 0.016 radians and 0.013 radians, respectively, which are less than 1 degree in angle, and the accuracy is quite considerable.

[0131] Table 1 Reflector Positioning Deviation Table

[0132] distance Deviation x Deviation y Orientation deviation 10m 0.011 0.047 0.023 5m 0.032 0.009 0.016 3m 0.03 0.022 0.013

[0133] The unloading control device for a loader provided in this disclosure has the same implementation principle and technical effect as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the embodiment of the unloading control device for a loader can be referred to the corresponding content in the aforementioned embodiment of the unloading control method for a loader.

[0134] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0135] This disclosure also provides an electronic device, such as... Figure 7The diagram shows the structure of the electronic device, which includes a processor 71 and a memory 70. The memory 70 stores computer-executable instructions that can be executed by the processor 71. The processor 71 executes the computer-executable instructions to implement the unloading control method of the loader described above.

[0136] exist Figure 7 In the illustrated embodiment, the electronic device further includes a bus 72 and a communication interface 73, wherein the processor 71, the communication interface 73, and the memory 70 are connected via the bus 72.

[0137] The memory 70 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 73 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc. The bus 72 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 72 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0138] The processor 71 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 71 or by instructions in software form. The processor 71 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this disclosure can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the memory. The processor 71 reads the information in the memory and, in conjunction with its hardware, completes the steps of the unloading control method of the loader in the aforementioned embodiment.

[0139] This disclosure also provides a computer-readable storage medium storing computer-executable instructions. When these computer-executable instructions are invoked and executed by a processor, they cause the processor to implement the above-described unloading control method for the loader. For specific implementation details, please refer to the foregoing method embodiments, which will not be repeated here.

[0140] The computer program product of the unloading control method, apparatus and electronic device for loader provided in this disclosure includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0141] Unless otherwise specifically stated, the relative steps, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure.

[0142] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0143] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0144] Finally, it should be noted that the above-described embodiments are merely specific implementations of this disclosure, used to illustrate the technical solutions of this disclosure, and not to limit it. The protection scope of this disclosure is not limited thereto. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this disclosure. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure, and should all be covered within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be determined by the protection scope of the claims.

Claims

1. A method of controlling unloading of a loader, characterized by The method comprises: During control of the loader to move to a target bin corresponding to a current unloading task, a positional relationship between a laser radar of the loader and a target reflective medium arranged on the target bin is acquired; A first pose parameter of the laser radar in a bin coordinate system of the target bin is determined according to the positional relationship; A current pose parameter of a bucket of the loader in the bin coordinate system is determined according to the first pose parameter and a second pose parameter of the bucket in a radar coordinate system of the laser radar; Whether a preset unloading condition is met is determined according to the current pose parameter of the bucket in the bin coordinate system; If so, the loader is controlled to unload to the target bin; The positional relationship between the laser radar of the loader and the target reflective medium arranged on the target bin is acquired by controlling the laser radar of the loader to emit a laser beam in a direction in which the target bin is located and receive a reflected laser beam of the target reflective medium of the target bin; the target reflective medium is arranged on an outer wall of the target bin; and the positional relationship between the laser radar and the target reflective medium is determined according to the received reflected laser beam; If the target reflective medium is multiple; the positional relationship between the laser radar and the target reflective medium is determined according to the received reflected laser beam, which comprises: A plurality of to-be-determined reflective media are determined according to beam continuity in each reflected laser beam group, and second distance information between the plurality of to-be-determined reflective media is determined; a plurality of converged reflected laser beams form a reflected laser beam group, one to-be-determined reflective medium corresponds to one reflected laser beam group in which the beams are continuously effective, and the second distance information comprises distances between reflected laser beam groups corresponding to any two to-be-determined reflective media; A plurality of target reflected laser beam groups corresponding to the plurality of target reflective media are determined according to first distance information between the plurality of target reflective media and second distance information between the plurality of to-be-determined reflective media; the first distance information comprises actual distances between any two target reflective media calculated in advance; Positional relationships between the laser radar and the plurality of target reflective media are determined according to the plurality of target reflected laser beam groups; the positional relationships comprise distance information.

2. The method of claim 1, wherein, The preset unloading condition comprises that a distance between the bucket and the target bin is less than a first preset value and / or a distance between the bucket and a bin outer wall of the target bin is greater than a second preset value, so that the bucket does not collide with the target bin.

3. The method of claim 1, wherein, The plurality of to-be-determined reflective media are determined according to beam continuity in each reflected laser beam group, which comprises: First and second dynamic thresholds are determined according to a distance of the laser radar to the target bin determined last time; the first dynamic threshold represents a minimum number of laser points required to form the same target reflective medium, and the second dynamic threshold represents a minimum number of laser points for stopping identification of a current reflected laser beam group; Whether the beams of each reflected laser beam group are continuously effective is determined according to the first and second dynamic thresholds. The light beam continuously effective reflection laser beam group corresponds to a reflection medium to be determined.

4. The method of claim 3, wherein, The first dynamic threshold and the second dynamic threshold are determined according to the distance of the last time the laser radar reaches the target bin. The first dynamic threshold is determined according to the distance of the last time the laser radar reaches the target bin, the size of the target reflection medium and the scanning parameters of the laser radar. The first intermediate value is obtained by performing square root operation on the first dynamic threshold, and the second dynamic threshold is obtained by rounding the first intermediate value.

5. The method of claim 3, wherein, Whether the light beams of each reflection laser beam group are continuously effective is determined according to the first dynamic threshold and the second dynamic threshold, including: Checking whether the intensity of the light beams in the reflection laser beam group is greater than a preset intensity threshold; if yes, the first value corresponding to the effective laser beam is increased by 1; if no, the second value of the ineffective laser beam is increased by 1; When the second value is greater than or equal to the second dynamic threshold, or the checking of the light beams in the reflection laser beam group is completed, if the first value is greater than or equal to the first dynamic threshold, it is determined that the light beams of the reflection laser beam group are continuously effective.

6. The method of claim 1, wherein, The second distance information between the plurality of reflection media to be determined includes: According to the center light beam of the reflection laser beam group corresponding to the reflection medium to be determined, the distance angle parameter between the reflection medium to be determined and the laser radar is determined, and the distance angle parameter includes the third distance between the reflection medium to be determined and the laser radar and the first angle between the center light beam and the axis of the laser radar. The plurality of reflection media to be determined are combined in pairs to obtain at least one reflection medium group to be determined. According to the distance angle parameters corresponding to the two reflection media to be determined in the reflection medium group to be determined, the second distance information between the two reflection media to be determined in the reflection medium group to be determined is determined.

7. The method of claim 1, wherein, The target reflection medium is two; according to the first distance information between the plurality of target reflection media and the second distance information between the plurality of reflection media to be determined, a plurality of target reflection laser beam groups corresponding to the plurality of target reflection media are determined, including: For the second distance information between the plurality of reflection media to be determined, the first distance information between the two target reflection media is subtracted from each second distance information and the absolute value of the difference is taken; The reflection laser beam group corresponding to the second distance information with an absolute value less than a preset value is determined as the two target reflection laser beam groups corresponding to the two target reflection media.

8. The method of claim 1, wherein, The target reflection medium is two; according to the received reflection laser beam, the positional relationship between the laser radar and the target reflection medium is determined, including: According to the two target reflection laser beam groups, the fourth distance and the fifth distance between the laser radar and the centers of the two target reflection media are determined. The second angle and the third angle between the two target reflection laser beam groups and the axis of the laser radar are determined. The positional relationship between the laser radar and the two target reflection media includes the fourth distance, the fifth distance, the second angle and the third angle.

9. The method of claim 1, wherein, The target reflective medium is two; determining the first pose parameter of the laser radar in the bin coordinate system of the target bin according to the position relationship includes: According to the position relationship and the first distance information between the two target reflective media, the first pose parameter of the laser radar in the bin coordinate system of the target bin is determined; wherein the first distance information includes the actual distance between the two target reflective media.

10. The method of claim 9, wherein, According to the position relationship and the first distance information between the two target reflective media, the first pose parameter of the laser radar in the bin coordinate system of the target bin is determined; wherein the first distance information includes the actual distance between the two target reflective media. According to the position relationship and the first distance information between the two target reflective media, and the pose transformation relationship of the radar coordinate system of the laser radar to the bin coordinate system of the target bin, the first pose parameter of the laser radar in the bin coordinate system is determined; the first pose parameter includes: the current coordinate and / or rotation angle of the laser radar in the bin coordinate system.

11. The method of claim 10, wherein, According to the first pose parameter and the second pose parameter of the bucket of the loader in the radar coordinate system of the laser radar, the current pose parameter of the bucket in the bin coordinate system is determined. a current pose parameter of the loader's bucket in the bin coordinate system is determined by the equation: wherein is a first pose parameter for the laser radar, is a second pose parameter of the bucket in a radar coordinate system of the laser radar.

12. The method according to any one of claims 1 to 11, characterized in that, The laser radar is arranged on the front of the loader, and the laser radar is located below the bucket.

13. An unloading control device for a loader, characterized in that The device includes: The position relationship acquisition module is configured to acquire the position relationship between the laser radar of the loader and the target reflective medium of the target bin during the movement of the loader to the target bin corresponding to the current unloading task; The radar pose determination module is configured to determine the first pose parameter of the laser radar in the bin coordinate system of the target bin according to the position relationship; The bucket pose determination module is configured to determine the current pose parameter of the bucket in the bin coordinate system according to the first pose parameter and the second pose parameter of the bucket of the loader in the radar coordinate system of the laser radar; The unloading judgment module is configured to determine whether the preset unloading condition is met according to the current pose parameter of the bucket in the bin coordinate system; The unloading module is configured to control the loader to unload to the target bin when the judgment result of the unloading judgment module is yes. The position relationship between the laser radar of the loader and the target reflective medium arranged on the target bin includes: controlling the laser radar of the loader to emit a laser beam in the direction of the target bin and receive the reflected laser beam of the target reflective medium of the target bin; wherein the target reflective medium is arranged on the outer wall of the target bin; the position relationship between the laser radar and the target reflective medium is determined according to the received reflected laser beam; If the target reflective medium is multiple; the position relationship between the laser radar and the target reflective medium is determined according to the received reflected laser beam includes: A plurality of to-be-determined reflective light mediums are determined according to the beam continuity of the reflective laser beam groups, and second distance information between the plurality of to-be-determined reflective light mediums is determined; wherein a plurality of converged reflective laser beams form a reflective laser beam group, a to-be-determined reflective light medium corresponds to a reflective laser beam group with effective beam continuity, and the second distance information includes the distance between reflective laser beam groups corresponding to any two to-be-determined reflective light mediums; A plurality of target reflective laser beam groups corresponding to a plurality of target reflective light mediums are determined according to the first distance information between the plurality of target reflective light mediums and the second distance information between the plurality of to-be-determined reflective light mediums; wherein the first distance information includes the actual distance between any two target reflective light mediums calculated in advance; A position relationship between the laser radar and the plurality of target reflective light mediums is determined according to the plurality of target reflective laser beam groups; wherein the position relationship includes distance information.

14. An electronic device, comprising: The processor executes the computer executable instructions to implement the method in any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer executable instructions, and when the computer executable instructions are called and executed by the processor, the computer executable instructions cause the processor to implement the method in any one of claims 1 to 12.

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