A loader autonomous unloading trajectory dynamic programming system, method and medium

Abstract

The application discloses a loader autonomous unloading track dynamic programming system, method and medium, and belongs to the technical field of loaders, and comprises a first vision camera, a second vision camera, a laser radar, a first displacement sensor, a second displacement sensor and a vehicle VCU which are electrically connected with a terminal respectively. The application provides a loader autonomous unloading track dynamic programming system, method and medium, which aims at optimizing the energy consumption of the loader and reducing the impact on the self-unloading vehicle, can realize the motion programming of autonomous unloading in the working process of the unmanned loader, and has strong adaptability to the environment.

Description

Technical Field

[0001] This invention discloses a dynamic planning system, method, and medium for autonomous unloading trajectory of a loader, belonging to the field of loader technology. Background Technology

[0002] Wheel loaders are engineering machines that integrate the functions of shoveling, loading, transporting, and digging materials. Due to these functions, wheel loaders are increasingly widely used and play a vital role in various construction projects. Loaders are primarily used in shoveling operations, which are mostly cyclical operations. Through repeated cycles of "shoveling-transporting-unloading," bulk materials such as coal, sand, and soil are transferred to other designated locations. Research on unmanned loader technology is of great practical significance in reducing driver workload, minimizing accidents, and improving operational efficiency. Autonomous unloading, as the final stage of the unmanned loader's work cycle, requires interaction with other engineering vehicles, thus posing a higher risk of collision compared to other stages. Therefore, achieving autonomous shoveling is one of the key technologies for realizing unmanned loader operations.

[0003] Existing research on achieving automated loading of loaders mainly involves two methods: one is to replicate the driver's unloading actions. The driver first operates the loader to unload material, and the control system records the loader's actions under the driver's control, then repeatedly replays the recordings to achieve autonomous unloading. Chinese invention patent CN119A discloses a pure kinematics planning scheme based on lidar perception, considering only the loader's mechanical structure to avoid collisions with the dump truck. The first unloading method uses fixed actions for unloading, while the second method only uses a pure kinematics model and only considers preventing collisions between the loader's structure and the outside of the dump truck. The planned trajectory still carries the risk of collision between the loader's bucket and the inner wall of the dump truck's hopper. Furthermore, neither of these methods considers the loader's energy consumption or the impact of material on the dump truck during unloading, making it difficult to respond in real time to environmental changes. Therefore, designing an efficient and reliable autonomous unloading method for loaders that considers reducing loader energy consumption and minimizing impact on the dump truck is crucial for the practical application of unmanned loader unloading. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a dynamic planning system, method, and medium for autonomous unloading trajectory of loaders. This solves the problem that drivers frequently operate loaders for unloading operations, which requires a certain level of experience and can easily lead to driver fatigue and accidents. This frees drivers from tedious and tiring work and improves unloading efficiency.

[0005] The technical solution of the present invention is as follows:

[0006] According to a first aspect of the present invention, a dynamic planning system for autonomous unloading trajectory of a loader is provided, comprising a first vision camera, a second vision camera, a lidar, a first displacement sensor, a second displacement sensor, and a vehicle VCU, all electrically connected to a terminal, wherein:

[0007] The lidar is installed on the top of the cab and is used to obtain the distance between the dump truck and the material pile and the point cloud information of the target dump truck and send it to the terminal.

[0008] The first vision camera and the second vision camera are symmetrically arranged on both sides of the lidar on the top of the cab. They are used to acquire the external outline image of the material loaded inside the bucket and the material pile, as well as the complete shape of the dump truck on the YZ cross section of the dump truck hopper, and send it to the terminal.

[0009] The first displacement sensor is installed on the bucket cylinder to obtain the extension and retraction of the bucket cylinder and send it to the terminal;

[0010] The second displacement sensor is installed in the boom cylinder to obtain the extension and retraction amount of the boom cylinder and send it to the terminal;

[0011] The vehicle VCU is installed inside the loader and is used to acquire vehicle speed, acceleration and boom cylinder rodless chamber pressure load values ​​and send them to the terminal.

[0012] The terminal is installed in the driver's cab and is used for:

[0013] The distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the material inside the bucket and the material pile, and the complete shape of the dump truck on the YZ cross section of the dump truck hopper are obtained, and the collision detection occupancy grid map is obtained.

[0014] Establish a vehicle coordinate system, and obtain the unloading angle and the coordinates of the boom-bucket hinge point of the final unloading posture based on the loader kinematic model and the collision detection occupancy grid diagram.

[0015] The loader body displacement-time curve is determined based on the vehicle speed, acceleration, unloading angle of the final unloading posture, coordinates of the boom and bucket hinge point, and coordinate speed. The total displacement stroke of the boom cylinder and bucket cylinder during the unloading operation is determined based on the unloading angle of the final unloading posture and the coordinates of the boom and bucket hinge point.

[0016] Based on the total displacement stroke of the boom cylinder and the pressure load value of the rodless chamber of the boom cylinder during the unloading operation, the displacement-time curve of the boom cylinder is obtained.

[0017] The displacement-time curve of the bucket cylinder is determined based on the total displacement stroke of the bucket cylinder during the unloading operation and the unloading angle of the final unloading posture.

[0018] The loader's autonomous unloading trajectory is obtained based on the loader body displacement-time curve, boom cylinder displacement-time curve, and bucket cylinder displacement-time curve.

[0019] According to a second aspect of the present invention, a dynamic planning method for the autonomous unloading trajectory of a loader is provided, applied to a terminal in the dynamic planning system for the autonomous unloading trajectory of a loader described in the first aspect, comprising:

[0020] The distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the material inside the bucket and the material pile, and the complete shape of the dump truck on the YZ cross section of the dump truck hopper are obtained, and the collision detection occupancy grid map is obtained.

[0021] Establish a vehicle coordinate system, and obtain the unloading angle and the coordinates of the boom-bucket hinge point of the final unloading posture based on the loader kinematic model and the collision detection occupancy grid diagram.

[0022] The loader body displacement-time curve is determined based on the vehicle speed, acceleration, unloading angle of the final unloading posture, coordinates of the boom and bucket hinge point, and coordinate speed. The total displacement stroke of the boom cylinder and bucket cylinder during the unloading operation is determined based on the unloading angle of the final unloading posture and the coordinates of the boom and bucket hinge point.

[0023] Based on the total displacement stroke of the boom cylinder and the pressure load value of the rodless chamber of the boom cylinder during the unloading operation, the displacement-time curve of the boom cylinder is obtained.

[0024] The displacement-time curve of the bucket cylinder is determined based on the total displacement stroke of the bucket cylinder during the unloading operation and the unloading angle of the final unloading posture.

[0025] The loader's autonomous unloading trajectory is obtained based on the loader body displacement-time curve, boom cylinder displacement-time curve, and bucket cylinder displacement-time curve.

[0026] Preferably, the step of acquiring the distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the material loaded inside the bucket and the material pile, and the complete shape of the dump truck on the YZ cross section of the dump truck's hopper, and obtaining a collision detection occupancy grid map, includes:

[0027] The target dump truck pose information and point cloud are obtained by acquiring the distance between the dump truck and the material pile, the point cloud information of the target dump truck, and the external contour image of the material loaded inside the bucket and the material pile.

[0028] Based on the target dump truck pose information and point cloud, the edge line information of the dump truck hopper and the unloading point inside the dump truck hopper are obtained;

[0029] Based on the edge straight line information of the dump truck hopper and the unloading point inside the dump truck hopper, the complete dump truck shape on the YZ cross section of the dump truck hopper is sliced ​​and projected to obtain the point cloud of the dump truck hopper cross section.

[0030] The point cloud of the dump truck hopper cross section is imported into a grid map and the dump truck 2D point cloud is voxelized to obtain an occupation collision detection grid map.

[0031] Preferably, the step of establishing the vehicle coordinate system and obtaining the unloading angle and the coordinates of the boom-bucket hinge point of the final unloading posture based on the loader's kinematic model and the collision detection occupancy grid diagram includes:

[0032] A vehicle coordinate system is established. Based on the loader's kinematic model, the initial boom and bucket pose coordinate points are preset, and key collision detection vectors are generated. The key collision detection vectors include: a first vector, a second vector, and a third vector. The first vector is perpendicular to the line connecting the boom and loader body hinge point and the initial boom and bucket pose point, pointing towards the edge of the truck. The second vector passes through the initial boom and bucket pose point and points vertically downward. The third vector is perpendicular to the line connecting the initial boom and bucket pose point and the lower outer edge of the bucket, pointing towards the edge of the truck hopper.

[0033] The key collision detection vectors are imported into the occupied collision detection grid to detect and determine whether a collision pose has occurred.

[0034] Yes, update the pose until a collision-free pose is generated;

[0035] No, the unloading angle and the coordinates of the boom-bucket hinge point are obtained based on the current key collision detection vector.

[0036] Preferably, updating the pose until a collision-free pose is generated includes:

[0037] Obtain the pose of the shovel tip at its lowest point from the bottom of the dump truck's hopper without collision, and obtain collision information;

[0038] Based on the collision information, adjust the shovel tip to the lowest possible position relative to the bottom of the dump truck's hopper, ensuring no collision occurs:

[0039] When the collision information indicates that the first vector has collided while the second and third vectors have not, the initial boom and bucket pose points are translated along the negative Y-axis.

[0040] When the collision information indicates that the second vector has collided, but the first and third vectors have not collided, the initial boom and bucket pose points are translated along the positive Y-axis.

[0041] When the collision information indicates that the third vector has collided and the first and second vectors have not collided, or when the first and second vectors have collided and the third vector has not collided, the initial boom and bucket pose points are translated along the positive Z-axis.

[0042] Preferably, determining the total displacement stroke of the boom cylinder and bucket cylinder during the unloading operation based on the unloading angle of the final unloading posture and the coordinates of the boom-bucket hinge point includes:

[0043] The final expected positions of the boom cylinder and the bucket cylinder during the unloading process are determined based on the unloading angle of the final unloading posture and the coordinates of the boom and bucket hinge point.

[0044] The total displacement stroke of the boom cylinder and bucket cylinder during the unloading operation is determined based on the current extension / retraction position of the bucket cylinder, the current extension / retraction position of the boom cylinder, the final expected position of the boom cylinder and the final expected position of the bucket cylinder during the unloading operation.

[0045] Preferably, the step of obtaining the boom cylinder displacement-time curve based on the total displacement stroke of the boom cylinder and the pressure load value of the rodless chamber of the boom cylinder during the unloading operation includes:

[0046] The pressure load range of the rodless chamber of the boom cylinder is determined based on the pressure load value of the rodless chamber of the boom cylinder.

[0047] The motor speed at which the hydraulic motor achieves the highest efficiency is obtained based on the pressure load range of the rodless chamber of the boom cylinder and the hydraulic motor efficiency MAP diagram.

[0048] The boom cylinder speed is obtained based on the motor speed at which the hydraulic motor has the highest efficiency.

[0049] The boom cylinder displacement-time curve is obtained based on the total displacement stroke and boom cylinder speed during the unloading operation.

[0050] Preferably, determining the displacement-time curve of the bucket cylinder based on the total displacement stroke of the bucket cylinder during the unloading operation and the unloading angle of the final unloading posture includes:

[0051] Obtain the total displacement of the shovel tip in the X direction from the unloading angle of 0 to the final unloading posture. Based on the loader body displacement-time curve and the total displacement of the shovel tip in the X direction from the unloading angle of 0 to the final unloading posture, obtain the first shovel tip displacement-time curve.

[0052] The displacement-time curve of the first bucket cylinder is obtained based on the displacement-time curve of the first shovel tip.

[0053] Obtain the bucket tip transport state parameters, and use cubic multinomial interpolation to fit the bucket tip state parameters with the discharge angle of 0 and the discharge angle of the final discharge posture to obtain the second bucket tip displacement-time curve.

[0054] The displacement-time curve of the bucket cylinder is obtained based on the first shovel tip displacement-time curve and the second shovel tip displacement-time curve.

[0055] According to a third aspect of the present invention, a dynamic planning device for autonomous unloading trajectory of a loader is provided, comprising:

[0056] The perception module is used to acquire the distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the material loaded inside the bucket and the material pile, and the complete shape of the dump truck on the YZ cross section of the dump truck hopper, and to obtain the collision detection occupancy grid map.

[0057] The final unloading posture planning module is used to establish the vehicle coordinate system and obtain the unloading angle and the coordinates of the boom and bucket hinge point of the final unloading posture based on the loader kinematic model and the collision detection occupancy grid map.

[0058] The loader travel motion planning module is used to determine the loader body displacement-time curve based on the vehicle speed, acceleration, unloading angle of the final unloading posture, coordinates of the boom and bucket hinge point, and coordinate speed. It also determines the total displacement stroke of the boom cylinder and bucket cylinder during the unloading operation based on the unloading angle of the final unloading posture and the coordinates of the boom and bucket hinge point.

[0059] The boom motion planning module is installed to obtain the boom cylinder displacement-time curve based on the total displacement stroke of the boom cylinder and the pressure load value of the rodless chamber of the boom cylinder during the unloading operation.

[0060] The loader bucket rotation motion planning module is used to determine the bucket cylinder displacement-time curve based on the total displacement stroke of the bucket cylinder during the unloading operation and the unloading angle of the final unloading posture.

[0061] The trajectory fitting module is used to obtain the loader's autonomous unloading trajectory based on the loader body displacement-time curve, boom cylinder displacement-time curve, and bucket cylinder displacement-time curve.

[0062] According to a fourth aspect of the present invention, a terminal is provided, comprising:

[0063] One or more processors;

[0064] Memory for storing the one or more processor-executable instructions;

[0065] Wherein, the one or more processors are configured as follows:

[0066] Perform the method described in the first aspect of the embodiments of the present invention.

[0067] According to a fifth aspect of the present invention, a non-transitory computer-readable storage medium is provided, wherein when instructions in the storage medium are executed by a processor of a terminal, the terminal is enabled to perform the method described in the first aspect of the present invention.

[0068] According to a sixth aspect of the present invention, an application product is provided that, when the application product is running on a terminal, causes the terminal to execute the method described in the first aspect of the present invention.

[0069] The beneficial effects of this invention are as follows:

[0070] This invention provides a dynamic planning system, method, and medium for autonomous unloading trajectory of a loader, aiming to optimize the loader's energy consumption and reduce the impact on dump trucks. It can realize the motion planning of autonomous unloading during the operation of an unmanned loader and has a strong adaptability to the environment.

[0071] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0072] Figure 1 This is a schematic diagram of a dynamic planning system for the autonomous unloading trajectory of a loader, according to an exemplary embodiment.

[0073] Figure 2 This is a schematic diagram illustrating the configuration of a dynamic planning system for the autonomous unloading trajectory of a loader, according to an exemplary embodiment.

[0074] Figure 3 This is a flowchart illustrating a dynamic planning method for the autonomous unloading trajectory of a loader, according to an exemplary embodiment.

[0075] Figure 4 This is a partial flowchart of a dynamic planning method for autonomous unloading trajectory of a loader, illustrated according to an exemplary embodiment.

[0076] Figure 5 This is a schematic diagram illustrating the generation of a collision detection grid in a dynamic planning method for the autonomous unloading trajectory of a loader, according to an exemplary embodiment.

[0077] Figure 6 This is a flowchart illustrating the final pose planning of a loader during unloading in a dynamic planning method for autonomous unloading trajectory of a loader, according to an exemplary embodiment.

[0078] Figure 7 This is a diagram illustrating the final unloading posture structure of a loader in a dynamic planning method for autonomous unloading trajectory of a loader, according to an exemplary embodiment.

[0079] Figure 8 This is a flowchart illustrating the final pose planning part of the loader unloading process in a dynamic planning method for the autonomous unloading trajectory of a loader, according to an exemplary embodiment.

[0080] Figure 9 This is a schematic block diagram illustrating the structure of a dynamic planning device for autonomous unloading trajectory of a loader, according to an exemplary embodiment.

[0081] Figure 10 This is a schematic block diagram of a terminal structure according to an exemplary embodiment.

[0082] Among them: 1-first vision camera, 2-second vision camera, 3-LiDAR, 4-first displacement sensor, 5-second displacement sensor, 6-terminal, 7-bucket cylinder, 8-bucket cylinder, 9-boom, 10-bucket, 11-cab. Detailed Implementation

[0083] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0084] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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. Therefore, they should not be construed as limitations on this invention.

[0085] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0086] Example 1

[0087] An exemplary embodiment illustrates a dynamic planning system for the autonomous unloading trajectory of a loader. The system includes a first vision camera 1, a second vision camera 2, a lidar 3, a first displacement sensor 4, a second displacement sensor 5, and a vehicle VCU, all electrically connected to a terminal 6. Figure 1 and 2 As shown, where:

[0088] A lidar sensor 3 is mounted on the top of the cab 11 to acquire the distance between the dump truck and the material pile, as well as the point cloud information of the target dump truck, and transmits it to the terminal 6. A first vision camera 1 and a second vision camera 2 are symmetrically mounted on either side of the lidar sensor 3 on the top of the cab 11 to acquire images of the external contours of the material inside the bucket 10 and the material pile, as well as the complete shape of the dump truck on the YZ cross-section of the dump truck's hopper, and transmit these images to the terminal 6. A first displacement sensor 4 is mounted on the bucket cylinder 7 to acquire the extension / retraction amount of the bucket cylinder 7 and transmit it to the terminal 6. A second displacement sensor 5 is mounted on the boom cylinder 8 to acquire the extension / retraction amount of the boom cylinder 8 and transmit it to the terminal 6. A vehicle VCU is installed inside the loader to acquire vehicle speed, acceleration, and the pressure load value of the rodless chamber of the boom cylinder 8 and transmit it to the terminal 6.

[0089] Terminal 6 is installed in the cab 11 to acquire the distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the material loaded inside the bucket 10 and the material pile, and the complete shape of the dump truck on the YZ cross section of the dump truck hopper, and to obtain the collision detection occupancy grid map; to establish the vehicle coordinate system, and to obtain the unloading angle of the final unloading posture and the coordinates of the hinge point between the boom 9 and the bucket 10 according to the loader kinematic model and the collision detection occupancy grid map.

[0090] The loader body displacement-time curve is determined based on the vehicle speed, acceleration, unloading angle of the final unloading posture, coordinates of the hinge point between boom 9 and bucket 10, and coordinate speed. The total displacement stroke of boom cylinder 8 and bucket cylinder 7 during the unloading operation is determined based on the unloading angle of the final unloading posture and the coordinates of the hinge point between boom 9 and bucket 10.

[0091] The displacement-time curve of boom cylinder 8 is obtained based on the total displacement stroke of boom cylinder 8 and the pressure load value of the rodless chamber of boom cylinder 8 during the unloading operation. The displacement-time curve of bucket cylinder 7 is determined based on the total displacement stroke of bucket cylinder 7 and the unloading angle of the final unloading posture during the unloading operation. The autonomous unloading trajectory of the loader is obtained based on the displacement-time curve of the loader body, the displacement-time curve of boom cylinder 8 and the displacement-time curve of bucket cylinder 7.

[0092] Example 1

[0093] A flowchart illustrating a dynamic planning method for an autonomous unloading trajectory of a loader, as shown in an exemplary embodiment, is provided. This method is used in a terminal 6, which can be a desktop computer or a laptop computer, etc., and the terminal 6 includes at least a CPU. Figure 3 As shown, the method includes the following steps:

[0094] Step S10 involves acquiring the distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the material loaded inside the bucket 10 and the material pile, and the complete shape of the dump truck on the YZ cross-section of the dump truck's hopper, and obtaining a collision detection occupancy grid map. Specific steps include:

[0095] like Figure 4 As shown, the distance between the dump truck and the material pile, the point cloud information of the target dump truck, and the external contour image of the material loaded inside the bucket 10 and the material pile are obtained to obtain the pose information and point cloud of the target dump truck. Based on the pose information and point cloud of the target dump truck, filtering and straight line fitting are performed to obtain the edge straight line information of the dump truck bucket and the unloading point inside the dump truck bucket.

[0096] To effectively detect whether the loader bucket collides with the inner wall of the dump truck's hopper when it is positioned above or inside the hopper, LiDAR 3 needs to acquire the complete shape of the dump truck on the YZ cross-section of the hopper. Therefore, before generating the collision detection occupancy grid map, the dump truck point cloud needs to be symmetrically completed along the dump truck's heading angle and the vertical plane. Based on the edge line information of the dump truck hopper and the unloading point inside the hopper, the complete shape of the dump truck on the YZ cross-section of the hopper is sliced ​​and projected to obtain the point cloud of the dump truck hopper cross-section. To improve the efficiency of the collision detection algorithm, the point cloud of the dump truck hopper cross-section is imported into the grid map and the dump truck's two-dimensional point cloud is voxelized to obtain the occupancy collision detection grid map.

[0097] like Figure 5 As shown, the two-dimensional point cloud voxelization of the dump truck performs binarization processing on the point cloud within the grid according to a preset threshold. If the number of points in the grid is greater than or equal to the threshold, the grid is assigned the value 1, which is represented by black filling in the figure. Otherwise, it is represented by the value 0, which is represented by white filling in the figure. When an object or vector is detected to have invaded the black grid, it indicates that a collision has occurred.

[0098] Step S20: Establish the vehicle coordinate system. Based on the loader's kinematic model and the collision detection occupancy grid diagram, obtain the unloading angle of the final unloading posture and the coordinates of the hinge point between the boom 9 and the bucket 10. Specific steps include:

[0099] like Figure 6 and 7As shown, according to the unloading process and motion analysis, the final unloading posture of the loader is the posture most prone to collision during the unloading process. Ensuring that this posture does not collide will ensure that the entire unloading process does not involve collisions. Before the collision detection process, a vehicle coordinate system is established, and the initial posture coordinates of the boom 9 and bucket 10 are preset according to the loader's kinematic model. At the same time, to improve the module's operating efficiency, key collision detection vectors are generated. The key collision detection vectors include: a first vector A1, a second vector A2, and a third vector A3. The first vector A1 is perpendicular to the line connecting the hinge point A of the boom 9 and the loader body and the initial hinge point I of the boom 9 and bucket 10, pointing towards the edge of the truck. The second vector A2 is vertically downward through the initial hinge point I of the boom 9 and bucket 10. The third vector A3 is perpendicular to the line connecting the initial hinge point I of the boom 9 and bucket 10 and the lower outer edge of the bucket 10, pointing towards the edge of the truck's hopper.

[0100] Import the key collision detection vectors into the occupied collision detection grid to detect and determine whether a collision pose has occurred.

[0101] Yes, pass in the iterator to update the pose, and update the pose until a collision-free pose is generated;

[0102] No, the unloading angle and the coordinates of the hinge point between boom 9 and bucket 10 are obtained based on the current key collision detection vector to determine the final unloading posture.

[0103] The above-mentioned iterator is used to update the pose until a collision-free pose is generated. The specific steps are as follows:

[0104] like Figure 8 As shown, during the unloading process, a high unloading height can cause significant impact on the dump truck. To reduce this impact, the iterator prioritizes planning the pose where the distance between the shovel tip and the bottom of the dump truck's hopper is lowest and collision-free. Therefore, it first obtains the pose where the distance between the shovel tip and the bottom of the dump truck's hopper is lowest and collision-free, and then acquires collision information. Based on the collision information, it adjusts the pose to the position where the distance between the shovel tip and the bottom of the dump truck's hopper is lowest and collision-free.

[0105] When the collision information indicates that the first vector has collided but the second and third vectors have not, the initial boom 9 and bucket 10 hinge point is translated along the negative Y-axis.

[0106] When the collision information indicates that the second vector has collided, but the first and third vectors have not collided, the initial boom 9 and bucket 10 hinge point is translated along the positive Y-axis.

[0107] When the collision information indicates that the third vector has collided and the first and second vectors have not collided, or when the first and second vectors collide and the third vector has not collided, the initial boom 9 and bucket 10 hinge point is translated along the positive Z-axis.

[0108] Step S30: Based on the vehicle speed, acceleration, unloading angle of the final unloading posture, coordinates of the hinge point between the boom 9 and the bucket 10, and coordinate velocity, the total distance traveled is planned to determine the loader body displacement-time curve. Based on the unloading angle of the final unloading posture and the coordinates of the hinge point between the boom 9 and the bucket 10, the total displacement stroke of the boom cylinder 8 and the bucket cylinder 7 during the unloading operation is determined. Specific steps include:

[0109] The loader body displacement-time curve is obtained by calculating the total distance traveled based on the vehicle speed, acceleration, unloading angle of the final unloading posture, the coordinates of the hinge point between boom 9 and bucket 10, and coordinate velocity.

[0110] Based on the unloading angle of the final unloading posture and the coordinates of the hinge point between the boom 9 and the bucket 10, determine the final expected position of the boom cylinder and the final expected position of the bucket cylinder during the unloading operation. Based on the current extension position of the bucket cylinder 7, the current extension position of the boom cylinder 8, the final expected position of the boom cylinder and the final expected position of the bucket cylinder during the unloading operation, determine the total displacement stroke of the boom cylinder 8 and the bucket cylinder 7 during the unloading operation.

[0111] Step S40: Based on the total displacement stroke of boom cylinder 8 and the pressure load value of the rodless chamber of boom cylinder 8 during the unloading operation, the displacement-time curve of boom cylinder 8 is obtained. Specific steps include:

[0112] During the unloading process, the boom lifting motion is affected by the driver's driving habits, making it difficult for the hydraulic motor to maintain its most efficient operating range, resulting in unnecessary energy loss. Therefore, this invention considers the energy efficiency and smoothness of the hydraulic motor for different loads in the boom motion planning of the loader, and maps the boom motion planning to the boom cylinder motion planning.

[0113] The system's main energy consumption is used to lift the boom from the transport height to the unloading height. During the boom lifting phase, the pressure in auxiliary hydraulic circuits such as bucket cylinder locking and braking is negligible. Therefore, the main load in the hydraulic circuit can be considered to originate from the boom cylinder. The pressure load range of the rodless chamber of boom cylinder 8 is determined based on its pressure load value. The motor speed at which the hydraulic motor achieves maximum efficiency is obtained based on the pressure load range of the rodless chamber of boom cylinder 8 and the hydraulic motor efficiency MAP. The speed of boom cylinder 8 is obtained based on the motor speed at which the hydraulic motor achieves maximum efficiency. Finally, the displacement-time curve of boom cylinder 8 is obtained based on the total displacement stroke and speed of boom cylinder 8 during the unloading operation.

[0114] Step S50: Determine the displacement-time curve of the bucket cylinder 7 based on the total displacement stroke of the bucket cylinder 7 during the unloading operation and the unloading angle of the final unloading posture. Specific steps include:

[0115] During the unloading process, the bucket tilting motion, driven by the bucket cylinder, may cause the bucket to collide with the inside of the dump truck's cargo box. Therefore, the loader's travel speed and bucket tilting speed need to be coordinated, requiring a high level of driving skill from the driver. Incoordination between the loader's movement and the working device's movement can easily lead to sudden braking and abrupt stops, resulting in discontinuous unloading, reduced work efficiency, and increased energy loss in the auxiliary hydraulic circuit, hindering the loader's power consumption reduction. Therefore, this invention considers the coordination between the loader's travel speed and the bucket tilting speed in the bucket tilting motion planning, dividing the bucket tilting trajectory into two intervals for planning. Furthermore, to ensure smooth movement, the bucket's motion planning is mapped to the bucket cylinder's motion planning. According to the planning objectives, to compensate for the displacement of the shovel tip J in the Y direction within this interval, the total displacement of the shovel tip in the X direction from the unloading angle of 0 to the final unloading posture is first obtained. Based on the loader body displacement-time curve and the total displacement of the shovel tip in the X direction from the unloading angle of 0 to the final unloading posture, the first shovel tip displacement-time curve is obtained. Based on the first shovel tip displacement-time curve, the first bucket cylinder displacement-time curve is obtained, and the shovel tip state parameters for the transport posture are obtained. Based on the shovel tip state parameters at the unloading angle of 0 and the final unloading posture, a third-order polynomial interpolation is used to fit the second shovel tip displacement-time curve. Based on the first and second shovel tip displacement-time curves, the bucket cylinder 7 displacement-time curve is obtained.

[0116] Step S60: Based on the loader body displacement-time curve, the boom cylinder 8 displacement-time curve, and the bucket cylinder 7 displacement-time curve, the loader's autonomous unloading trajectory is obtained. Specific steps include:

[0117] Following the sequence of actions of the working device—namely: boom lifting—bucket tilting from a discharge angle of 0 degrees to a designated discharge angle—bucket tilting from the transport angle to a discharge angle of 0 degrees—the time axis of the planned trajectory of the working device is uniformly spliced ​​into a designated time sequence to obtain the motion planning curve of the working device. To ensure coordinated movement between the working device and the loader, the end time of the loader's travel trajectory is aligned with the end time of the working device's motion trajectory and unified into the same time sequence. After completing the above process, the autonomous unloading trajectory planning of the loader is finished.

[0118] Example 3

[0119] Figure 9 This is a schematic block diagram illustrating the structure of a dynamic planning device for autonomous unloading trajectory of a loader according to an exemplary embodiment. The device includes:

[0120] The perception module is used to acquire the distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the material loaded inside the bucket 10 and the material pile, and the complete shape of the dump truck on the YZ cross section of the dump truck hopper, and to obtain the collision detection occupancy grid map.

[0121] The final unloading posture planning module is used to establish the vehicle coordinate system and obtain the unloading angle and the coordinates of the hinge point between the boom 9 and the bucket 10 of the final unloading posture based on the loader kinematic model and the collision detection occupancy grid map.

[0122] The loader travel motion planning module is used to determine the loader body displacement-time curve based on the vehicle speed, acceleration, unloading angle of the final unloading posture, coordinates of the hinge point between the boom 9 and the bucket 10, and coordinate speed to plan the total distance. It also determines the total displacement stroke of the boom cylinder 8 and the bucket cylinder 7 during the unloading operation based on the unloading angle of the final unloading posture and the coordinates of the hinge point between the boom 9 and the bucket 10.

[0123] The boom motion planning module is installed to obtain the displacement-time curve of boom cylinder 8 based on the total displacement stroke of boom cylinder 8 and the pressure load value of the rodless chamber of boom cylinder 8 during the unloading operation.

[0124] The loader bucket rotation motion planning module is used to determine the displacement-time curve of the bucket cylinder 7 based on the total displacement stroke of the bucket cylinder 7 during the unloading operation and the unloading angle of the final unloading posture;

[0125] The trajectory fitting module is used to obtain the loader's autonomous unloading trajectory based on the loader body displacement-time curve, boom cylinder 8 displacement-time curve, and bucket cylinder 7 displacement-time curve.

[0126] Example 4

[0127] Figure 10 This is a structural block diagram of a terminal provided in an embodiment of this application. The terminal can be the terminal described in the above embodiments. The terminal can be a portable mobile terminal, such as a smartphone or tablet computer. The terminal may also be referred to as user equipment, portable terminal, or other names.

[0128] Typically, a terminal includes a processor and memory.

[0129] The processor may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor may be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor may also include a main processor and coprocessors. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0130] The memory may include one or more computer-readable storage media, which may be tangible and non-transitory. The memory may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory are used to store at least one instruction, which is executed by a processor to implement a dynamic programming method for autonomous unloading trajectory of a loader provided in this application.

[0131] In some embodiments, the terminal may also optionally include: a peripheral device interface and at least one peripheral device. Specifically, the peripheral device includes at least one of: a radio frequency circuit, a touch display screen, a camera, an audio circuit, a positioning component, and a power supply.

[0132] Peripheral device interfaces can be used to connect at least one I / O (Input / Output) related peripheral device to the processor and memory. In some embodiments, the processor, memory, and peripheral device interface are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor, memory, and peripheral device interface can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0133] Radio frequency (RF) circuits are used to receive and transmit RF signals, also known as electromagnetic signals. RF circuits communicate with communication networks and other communication devices via electromagnetic signals. RF circuits convert electrical signals into electromagnetic signals for transmission, or convert received electromagnetic signals back into electrical signals. Optionally, RF circuits include: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, user identity module cards, etc. RF circuits can communicate with other terminals through at least one wireless communication protocol. These wireless communication protocols include, but are not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0134] A touchscreen display is used to display a user interface (UI). This UI can include graphics, text, icons, videos, and any combination thereof. The touchscreen display also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to a processor for processing. The touchscreen display is used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one touchscreen display, located on the front panel of the terminal; in other embodiments, there may be at least two touchscreen displays, respectively located on different surfaces of the terminal or in a folded design; in still other embodiments, the touchscreen display may be a flexible display, located on a curved or folded surface of the terminal. Furthermore, the touchscreen display can be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. The touchscreen display can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0135] A camera assembly is used to capture images or videos. Optionally, the camera assembly includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is used for video calls or selfies, while the rear-facing camera is used for taking photos or videos. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, and a wide-angle camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, and panoramic shooting and VR (Virtual Reality) shooting by fusion of the main camera and the wide-angle camera. In some embodiments, the camera assembly may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash is a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0136] The audio circuitry provides an audio interface between the user and the terminal. The audio circuitry may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to a processor for processing, or input to radio frequency circuitry for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, positioned at different locations on the terminal. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor or radio frequency circuitry into sound waves. The speaker may be a traditional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuitry may also include a headphone jack.

[0137] The positioning component is used to determine the current geographic location of the terminal to enable navigation or LBS (Location Based Service). The positioning component can be based on the US GPS (Global Positioning System), China's BeiDou system, or Russia's Galileo system.

[0138] The power supply is used to power the various components in the terminal. The power supply can be alternating current (AC), direct current (DC), a disposable battery, or a rechargeable battery. When the power supply includes a rechargeable battery, it can be a wired or wirelessly rechargeable battery. A wired rechargeable battery is charged via a wired connection, while a wirelessly rechargeable battery is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0139] In some embodiments, the terminal further includes one or more sensors. These one or more sensors include, but are not limited to, accelerometers, gyroscopes, pressure sensors, fingerprint sensors, optical sensors, and proximity sensors.

[0140] An accelerometer can detect the magnitude of acceleration along the three axes of a coordinate system established by the terminal. For example, an accelerometer can be used to detect the components of gravitational acceleration along the three axes. The processor can then control the touchscreen to display the user interface in either landscape or portrait view based on the gravitational acceleration signals acquired by the accelerometer. Accelerometers can also be used for collecting motion data in games or for other applications.

[0141] The gyroscope sensor can detect the terminal's orientation and rotation angle. It can work in conjunction with an accelerometer to collect the user's 3D (3D) movements on the terminal. Based on the data collected by the gyroscope sensor, the processor can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0142] The pressure sensor can be installed on the side bezel of the terminal and / or the lower layer of the touchscreen display. When the pressure sensor is installed on the side bezel of the terminal, it can detect the user's grip signal on the terminal and perform left / right hand recognition or quick operation based on the grip signal. When the pressure sensor is installed on the lower layer of the touchscreen display, it can control operable controls on the UI interface based on the user's pressure on the touchscreen display. Operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0143] A fingerprint sensor is used to collect a user's fingerprint to identify the user. Once the user's identity is verified as trusted, the processor authorizes the user to perform sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. The fingerprint sensor can be located on the front, back, or side of the device. When the device has physical buttons or a manufacturer's logo, the fingerprint sensor can be integrated with those buttons or logos.

[0144] An optical sensor is used to collect ambient light intensity. In one embodiment, the processor can control the display brightness of the touch screen based on the ambient light intensity collected by the optical sensor. Specifically, when the ambient light intensity is high, the display brightness of the touch screen is increased; when the ambient light intensity is low, the display brightness of the touch screen is decreased. In another embodiment, the processor can also dynamically adjust the shooting parameters of the camera assembly based on the ambient light intensity collected by the optical sensor.

[0145] A proximity sensor, also known as a distance sensor, is typically located on the front of a terminal. It is used to detect the distance between the user and the front of the terminal. In one embodiment, when the proximity sensor detects that the distance between the user and the front of the terminal is gradually decreasing, the processor controls the touchscreen display to switch from a screen-on state to a screen-off state; conversely, when the proximity sensor detects that the distance between the user and the front of the terminal is gradually increasing, the processor controls the touchscreen display to switch from a screen-off state to a screen-on state.

[0146] Those skilled in the art will understand that Figure 10 The structure shown does not constitute a limitation on the terminal and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0147] Example 5

[0148] In an exemplary embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements a dynamic planning method for autonomous unloading trajectory of a loader as provided in all embodiments of the present application.

[0149] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0150] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0151] The program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0152] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0153] Example 6

[0154] In an exemplary embodiment, an application product is also provided, including one or more instructions that can be executed by the processor of the aforementioned device to complete the aforementioned dynamic planning method for the autonomous unloading trajectory of a loader.

[0155] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Other modifications can be readily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and examples shown and described herein.

Claims

1. A dynamic planning system for the autonomous unloading trajectory of a loader, characterized in that, Includes a first vision camera (1), a second vision camera (2), a lidar (3), a first displacement sensor (4), a second displacement sensor (5), and a vehicle VCU, all electrically connected to the terminal (6), wherein: The lidar (3) is installed on the top of the cab (11) to obtain the distance between the dump truck and the material pile and the point cloud information of the target dump truck and send it to the terminal (6); The first vision camera (1) and the second vision camera (2) are symmetrically arranged on both sides of the lidar (3) on the top of the cab (11) to obtain the external outline image of the material loaded inside the bucket (10) and the complete shape of the dump truck on the YZ cross section of the dump truck hopper and send it to the terminal (6). The first displacement sensor (4) is installed on the bucket cylinder (7) to obtain the extension and retraction of the bucket cylinder (7) and send it to the terminal (6); The second displacement sensor (5) is installed in the boom cylinder (8) to obtain the extension and retraction of the boom cylinder (8) and send it to the terminal (6); The vehicle VCU is installed inside the loader to obtain the vehicle speed, acceleration and the pressure load value of the rodless chamber of the boom cylinder (8) and send it to the terminal (6); The terminal (6) is installed in the driver's cab (11) and is used for: Obtain the distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the material loaded inside the bucket (10) and the material pile, and the complete shape of the dump truck on the YZ cross section of the dump truck hopper and obtain the collision detection occupancy grid map. Establish a vehicle coordinate system, and obtain the unloading angle and the coordinates of the hinge point between the boom (9) and the bucket (10) of the final unloading posture based on the loader kinematic model and the collision detection occupancy grid diagram; The loader body displacement-time curve is determined based on the vehicle speed, acceleration, unloading angle of the final unloading posture, coordinates of the hinge point between the boom (9) and the bucket (10), and coordinate speed. The total displacement stroke of the boom cylinder (8) and the bucket cylinder (7) during the unloading operation is determined based on the unloading angle of the final unloading posture and the coordinates of the hinge point between the boom (9) and the bucket (10). The displacement-time curve of the boom cylinder (8) is obtained based on the total displacement stroke of the boom cylinder (8) and the pressure load value of the rodless chamber of the boom cylinder (8) during the unloading operation. The displacement-time curve of the bucket cylinder (7) is determined based on the total displacement stroke of the bucket cylinder (7) during the unloading operation and the unloading angle of the final unloading posture; The loader's autonomous unloading trajectory is obtained based on the loader body displacement-time curve, boom cylinder (8) displacement-time curve, and bucket cylinder (7) displacement-time curve.

2. A dynamic planning method for the autonomous unloading trajectory of a loader, applied to the terminal (6) of the dynamic planning system for the autonomous unloading trajectory of a loader as described in claim 1, characterized in that, include: Obtain the distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the material loaded inside the bucket (10) and the material pile, and the complete shape of the dump truck on the YZ cross section of the dump truck hopper and obtain the collision detection occupancy grid map. Establish a vehicle coordinate system, and obtain the unloading angle and the coordinates of the hinge point between the boom (9) and the bucket (10) of the final unloading posture based on the loader kinematic model and the collision detection occupancy grid diagram; The loader body displacement-time curve is determined based on the vehicle speed, acceleration, unloading angle of the final unloading posture, coordinates of the hinge point between the boom (9) and the bucket (10), and coordinate speed. The total displacement stroke of the boom cylinder (8) and the bucket cylinder (7) during the unloading operation is determined based on the unloading angle of the final unloading posture and the coordinates of the hinge point between the boom (9) and the bucket (10). The displacement-time curve of the boom cylinder (8) is obtained based on the total displacement stroke of the boom cylinder (8) and the pressure load value of the rodless chamber of the boom cylinder (8) during the unloading operation. The displacement-time curve of the bucket cylinder (7) is determined based on the total displacement stroke of the bucket cylinder (7) during the unloading operation and the unloading angle of the final unloading posture; The loader's autonomous unloading trajectory is obtained based on the loader body displacement-time curve, boom cylinder (8) displacement-time curve, and bucket cylinder (7) displacement-time curve.

3. The dynamic planning method for autonomous unloading trajectory of a loader according to claim 2, characterized in that, The process of obtaining the distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the material loaded inside the bucket (10) and the material pile, and the complete shape of the dump truck on the YZ cross section of the dump truck hopper, and obtaining the collision detection occupancy grid map, includes: Obtain the distance between the dump truck and the material pile, the point cloud information of the target dump truck, and the external contour image of the material loaded inside the bucket (10) and the material pile to obtain the pose information and point cloud of the target dump truck. Based on the target dump truck pose information and point cloud, the edge line information of the dump truck hopper and the unloading point inside the dump truck hopper are obtained; Based on the edge straight line information of the dump truck hopper and the unloading point inside the dump truck hopper, the complete dump truck shape on the YZ cross section of the dump truck hopper is sliced ​​and projected to obtain the point cloud of the dump truck hopper cross section. The point cloud of the dump truck hopper cross section is imported into a grid map and the dump truck 2D point cloud is voxelized to obtain an occupation collision detection grid map.

4. The dynamic planning method for autonomous unloading trajectory of a loader according to claim 2, characterized in that, The establishment of the vehicle coordinate system, based on the loader's kinematic model and the collision detection occupancy grid diagram, yields the unloading angle of the final unloading posture and the coordinates of the hinge point between the boom (9) and the bucket (10), including: A vehicle coordinate system is established. Based on the kinematic model of the loader, the initial pose coordinates of the boom (9) and bucket (10) are preset and key collision detection vectors are generated. The key collision detection vectors include: a first vector, a second vector and a third vector. The first vector is perpendicular to the line connecting the hinge point of the boom (9) and the loader body and the initial hinge point of the boom (9) and the bucket (10) and points towards the edge of the truck. The second vector passes through the hinge point of the initial boom (9) and the bucket (10) and points vertically downward. The third vector is perpendicular to the line connecting the hinge point of the initial boom (9) and the bucket (10) and the lower outer edge of the bucket (10) and points towards the edge of the truck hopper. The key collision detection vectors are imported into the occupied collision detection grid to detect and determine whether a collision pose has occurred. Yes, update the pose until a collision-free pose is generated; No, based on the current key collision detection vector, the unloading angle of the final unloading posture and the coordinates of the hinge point between the boom (9) and the bucket (10) are obtained.

5. The dynamic planning method for autonomous unloading trajectory of a loader according to claim 4, characterized in that, The process of updating the pose until a collision-free pose is generated includes: Obtain the pose of the shovel tip at its lowest point from the bottom of the dump truck's hopper without collision, and obtain collision information; Based on the collision information, adjust the shovel tip to the lowest possible position relative to the bottom of the dump truck's hopper, ensuring no collision occurs: When the collision information indicates that the first vector has collided while the second and third vectors have not, the initial boom (9) and bucket (10) hinge point is translated along the negative Y-axis. When the collision information indicates that the second vector has collided but the first and third vectors have not collided, the initial boom (9) and bucket (10) hinge point is translated along the positive Y-axis. When the collision information is that the third vector has collided and the first and second vectors have not collided, or when the first and second vectors have collided and the third vector has not collided, the initial boom (9) and bucket (10) hinge point is translated along the positive Z-axis.

6. The dynamic planning method for autonomous unloading trajectory of a loader according to claim 5, characterized in that, The determination of the total displacement stroke of the boom cylinder (8) and bucket cylinder (7) during the unloading operation based on the unloading angle of the final unloading posture and the coordinates of the hinge point between the boom (9) and the bucket (10) includes: The final expected position of the boom cylinder and the final expected position of the bucket cylinder during the unloading process are determined based on the unloading angle of the final unloading posture and the coordinates of the hinge point between the boom (9) and the bucket (10). The total displacement stroke of the boom cylinder (8) and the bucket cylinder (7) during the unloading operation is determined based on the current extension position of the bucket cylinder (7), the current extension position of the boom cylinder (8), the final expected position of the boom cylinder and the final expected position of the bucket cylinder during the unloading operation.

7. The dynamic planning method for autonomous unloading trajectory of a loader according to claim 6, characterized in that, The method of obtaining the displacement-time curve of the boom cylinder (8) based on the total displacement stroke of the boom cylinder (8) and the pressure load value of the rodless chamber of the boom cylinder (8) during the unloading operation includes: The pressure load range of the rodless chamber of the boom cylinder (8) is determined based on the pressure load value of the rodless chamber of the boom cylinder (8); The motor speed at which the hydraulic motor achieves the highest efficiency is obtained based on the pressure load range of the rodless chamber of the boom cylinder (8) and the hydraulic motor efficiency MAP diagram. The speed of the boom cylinder (8) is obtained based on the motor speed at the highest efficiency of the hydraulic motor. The displacement-time curve of the boom cylinder (8) is obtained based on the total displacement stroke and speed of the boom cylinder (8) during the unloading operation.

8. The dynamic planning method for autonomous unloading trajectory of a loader according to claim 7, characterized in that, The determination of the displacement-time curve of the bucket cylinder (7) based on the total displacement stroke of the bucket cylinder (7) during the unloading operation and the unloading angle of the final unloading posture includes: Obtain the total displacement of the shovel tip in the X direction from the unloading angle of 0 to the final unloading posture. Based on the loader body displacement-time curve and the total displacement of the shovel tip in the X direction from the unloading angle of 0 to the final unloading posture, obtain the first shovel tip displacement-time curve. The displacement-time curve of the first bucket cylinder is obtained based on the displacement-time curve of the first shovel tip. Obtain the bucket tip transport state parameters, and use cubic multinomial interpolation to fit the bucket tip state parameters with the discharge angle of 0 and the discharge angle of the final discharge posture to obtain the second bucket tip displacement-time curve. The displacement-time curve of the bucket cylinder (7) is obtained based on the first shovel tip displacement-time curve and the second shovel tip displacement-time curve.

9. A dynamic planning device for the autonomous unloading trajectory of a loader, characterized in that, include: The perception module is used to obtain the distance between the dump truck and the material pile, the point cloud information of the target dump truck, the external contour image of the material loaded inside the bucket (10) and the material pile, and the complete shape of the dump truck on the YZ cross section of the dump truck hopper and obtain the collision detection occupancy grid map. The final unloading posture planning module is used to establish the vehicle coordinate system and obtain the unloading angle and the coordinates of the hinge point between the boom (9) and the bucket (10) of the final unloading posture based on the loader kinematic model and the collision detection occupancy grid diagram. The loader travel motion planning module is used to determine the loader body displacement-time curve based on the vehicle speed, acceleration, unloading angle of the final unloading posture, the coordinates of the hinge point of the boom (9) and the bucket (10) and the coordinate speed, and to determine the total displacement stroke of the boom cylinder (8) and the bucket cylinder (7) during the unloading operation based on the unloading angle of the final unloading posture and the coordinates of the hinge point of the boom (9) and the bucket (10). The loading boom motion planning module is used to obtain the boom cylinder (8) displacement-time curve based on the total displacement stroke of the boom cylinder (8) and the pressure load value of the rodless chamber of the boom cylinder (8) during the unloading operation. The loader bucket rotation motion planning module is used to determine the displacement-time curve of the bucket cylinder (7) based on the total displacement stroke of the bucket cylinder (7) during the unloading operation and the unloading angle of the final unloading posture; The trajectory fitting module is used to obtain the loader's autonomous unloading trajectory based on the loader body displacement-time curve, boom cylinder (8) displacement-time curve and bucket cylinder (7) displacement-time curve.

10. A non-transitory computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the terminal's processor, the terminal is able to execute the loader autonomous unloading trajectory dynamic planning method as described in any one of claims 2 to 8.

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