Docking assistance method, device for unloading apparatus, unloading apparatus

Abstract

The application discloses a docking assistance method and device for a discharging device, and the discharging device. The discharging device comprises a discharging tank, a first image acquisition device and a display device. The first image acquisition device is installed above the upper region of the discharging tank. The docking assistance method comprises the following steps: acquiring a first image in real time through the first image acquisition device; in the case that the discharging device is in a preparatory discharging state, generating a corresponding discharging tank auxiliary line in the first image according to the first position of the discharging tank; generating a hopper auxiliary line corresponding to the second position of the region center line of the feeding region of the pumping device in the first image in real time according to the second position; and sending the first image, the discharging tank auxiliary line and the hopper auxiliary line to the display device for display. The auxiliary line is calibrated based on the actual positions of the discharging tank and the feeding region, the discharging tank auxiliary line and the dynamic hopper auxiliary line are generated in the display screen, the discharging device accurately completes the reversing docking discharging operation, and the discharging safety is improved.

Description

Technical Field

[0001] This application relates to the field of concrete unloading technology, specifically to a docking auxiliary method, device, unloading equipment, unloading system, and storage medium for unloading equipment. Background Technology

[0002] Currently, concrete is increasingly used in construction. After being produced at the batching plant, concrete needs to be transported to the construction site by mixer trucks for pumping, pouring, and other operations. The process of transporting concrete from the mixer truck to the concrete pump truck is the mixer truck unloading process. However, accidents often occur where mixer trucks damage the hopper during pumping due to improper reversing. In existing technology, sensors are used for docking feedback when the mixer truck and pump truck are connected. These sensors are easily affected by splashed and dirty concrete, leading to sensor malfunction or failure. Furthermore, inaccurate unloading positions in the concrete pump truck hopper can easily cause overflow and cavitation problems. Summary of the Invention

[0003] The purpose of this application is to provide a docking assistance method, device, unloading equipment, unloading system and storage medium for unloading equipment, so as to solve the problem that the unloading equipment lacks accurate guidance during unloading docking in the prior art, resulting in inaccurate unloading position.

[0004] To achieve the above objectives, a first aspect of this application provides a docking assistance method for an unloading device. The unloading device includes a discharge chute, a first image acquisition device, and a display device. The first image acquisition device is installed in the upper region of the discharge chute. The docking assistance method includes: The first image is acquired in real time using the first image acquisition device; When the unloading equipment is in the pre-unloading state, the corresponding auxiliary line of the unloading chute is generated in the first image according to the first position of the unloading chute. Based on the second position of the center line of the feeding area of ​​the pumping equipment, a hopper auxiliary line corresponding to the second position is generated in real time in the first image; The first image, the feed chute auxiliary line, and the hopper auxiliary line are sent to the display device for display.

[0005] A second aspect of this application provides a docking auxiliary device for unloading equipment, comprising: The memory is configured to store instructions; and The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the docking assistance method for the unloading equipment described above.

[0006] A third aspect of this application provides a discharge device, comprising: Feed chute; The first image acquisition device is installed in the area above the material feeding trough; The display device is electrically connected to the first image acquisition device; and The above-mentioned docking auxiliary device for unloading equipment.

[0007] In embodiments of this application, the unloading device further includes: a second image acquisition device, installed in the rear lower region of the unloading chute, and electrically connected to the display device.

[0008] A fourth aspect of this application provides an unloading system, comprising: Pumping equipment, including the feed area; and Based on the above-mentioned unloading equipment.

[0009] The fifth aspect of this application provides a machine-readable storage medium, characterized in that the machine-readable storage medium stores instructions for causing a machine to perform the docking assistance method for unloading equipment as described above.

[0010] The above technical solution uses auxiliary lines to calibrate based on the actual positions of the discharge chute and the feeding area, generating auxiliary lines for the discharge chute and dynamic auxiliary lines for the hopper on the display screen. This assists the unloading equipment in accurately completing the reversing docking unloading operation. Thus, manual unloading docking is eliminated, making the process simple, convenient, and improving unloading safety. Furthermore, it is equivalent to using radar sensors for unloading docking, greatly reducing the probability of malfunctions or failures due to concrete covering.

[0011] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0012] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 This schematic diagram illustrates the structure of the rear of an unloading device according to an embodiment of this application; Figure 2 The illustration shows a schematic flowchart of a docking assistance method for an unloading device according to an embodiment of this application; Figure 3a , 3b 4a and 4b are schematic diagrams illustrating the display of a first image in a display device according to an embodiment of this application; Figure 5a , 5b All of these schematically illustrate the display screen during reversing docking in the display device according to embodiments of this application; Figure 6a , 6cAll of these schematic diagrams illustrate a second image displayed in a display device according to an embodiment of this application. Figure 6b A schematic cross-sectional view of a feeding trough according to an embodiment of this application is shown; Figure 7 A schematic diagram of the structure of the feeding trough according to an embodiment of this application is shown; Figure 8 This schematic diagram illustrates a structural block diagram of a docking auxiliary system for an unloading device according to an embodiment of this application; Figure 9a This schematically illustrates the installation structure of a second image acquisition device according to an embodiment of the present application; Figure 9b This schematically illustrates the installation structure of a first image acquisition device according to an embodiment of the present application; Figure 10 This schematic diagram illustrates the structure of the rear of an unloading device according to yet another embodiment of this application; Figure 11 This schematic diagram illustrates a structural block diagram of a docking auxiliary device for an unloading equipment according to an embodiment of this application; Figure 12 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0013] Explanation of reference numerals in the attached figures Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0015] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0016] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0017] Figure 1 The diagram schematically illustrates the structure of the rear of an unloading device according to an embodiment of this application. For example... Figure 1 As shown, the rear of the unloading equipment includes a feed hopper 110, a discharge chute 120, a first image acquisition device 130, a second image acquisition device 140, and an adjustment device 150. The discharge chute may include a main discharge chute 121 and a secondary discharge chute 122. Depending on the site conditions, the length of the discharge chute can be extended using the secondary discharge chute 122. Figure 1 The discharge chute shown is positioned at an angle behind the unloading equipment and is not yet in the pre-unloading state. The adjustment device is connected to the discharge chute and can drive the discharge chute to rotate and swing to a position facing the rear of the vehicle, thus entering the pre-unloading state.

[0018] Figure 2 The illustration schematically shows a flow chart of a docking assistance method for an unloading device according to an embodiment of this application. Figure 2 As shown in the figure, this application provides a docking assistance method for unloading equipment, which may include the following steps.

[0019] S202, the first image is acquired in real time through the first image acquisition device.

[0020] Image acquisition devices refer to cameras, camcorders, scanners, and other devices with photographic capabilities (such as mobile phones and tablets). (Reference) Figure 1 The first image acquisition device is installed above the discharge chute. Specifically, it can be installed above the discharge chute and positioned at the center line of the rear of the unloading equipment. The first image acquisition device's shooting direction is towards the discharge chute below, and the image content of the real-time acquired first image can include the entire discharge chute. When the distance between the unloading equipment and the pumping equipment is close, the first image acquisition device can also acquire the feeding area of ​​the hopper of the pumping equipment. That is, the image content of the first image also includes the feeding area of ​​the hopper.

[0021] S204, when the unloading equipment is in the pre-unloading state, generate the corresponding unloading chute auxiliary line in the first image according to the first position of the unloading chute.

[0022] In image display, auxiliary lines are hypothetical lines used to define the position of objects in an image. The chute auxiliary lines refer to those generated in the first image for a chute in a pre-unloading state. During unloading, the chute can rotate from a retracted state to a pre-unloading state. The pre-unloading state can be achieved when the center line of rotation of the chute coincides with the center line of the tail of the unloading equipment when viewed directly from the rear.

[0023] In embodiments of this application, the feed trough auxiliary line includes a first auxiliary line and a second auxiliary line. Generating the corresponding feed trough auxiliary line in the first image based on the first position of the feed trough includes: generating the first auxiliary line in the first image based on the first position of the tail edge line of the feed trough; determining the rotation center line of the feed trough based on the first auxiliary line and the tail edge line of the feed trough; and generating the second auxiliary line in the first image based on the rotation center line.

[0024] With the discharge chute rotated to the ready-to-discharge position, the first position of the discharge chute in the first image is determined. That is, the first position refers to the position where the discharge chute is in the ready-to-discharge state, and it does not change with time or space. Figure 3a As shown, a first auxiliary line is generated in the first image based on the first position of the tail edge line of the feed chute 310. Specifically, the processor can identify the critical points of the tail contour of the discharge chute in the image, and draw a first auxiliary line on the upper layer of the image based on the two critical points, for the feeding area of ​​the docking hopper in different directions. Furthermore, a second auxiliary line can be generated based on the rotation center line of the discharge chute. The rotation center line is perpendicular to and bisects the tail edge line. The processor can determine the location of the rotation center line of the discharge chute based on the first auxiliary line and the tail edge line of the discharge chute.

[0025] S206, Based on the second position of the center line of the feeding area of ​​the pumping equipment, a hopper auxiliary line corresponding to the second position is generated in real time in the first image.

[0026] Unloading equipment can refer to concrete mixer trucks, which unload concrete into the hopper of pumping equipment during the unloading process. For example... Figure 3aAs shown, the image content of the first image may also include the feeding area 320 of the pumping equipment hopper. In reality, hoppers can be long and narrow, have a uniform length-to-width ratio, or have different height differences. Furthermore, during the docking process in preparation for unloading, the second position of the hopper in the first image can change in real time. The processor can generate a hopper auxiliary line corresponding to the second position in the first image in real time based on the second position of the center line of the feeding area.

[0027] In embodiments of this application, the docking assistance method further includes: obtaining a discharge start command for the discharge equipment; and controlling the discharge chute to rotate horizontally according to the discharge start command, so that the discharge equipment is in a ready-to-discharge state.

[0028] Before the unloading equipment prepares to unload, the discharge chute is placed at an angle behind the unloading equipment. The operator can input a discharge start command to the unloading equipment, and the processor can control the discharge chute to rotate horizontally according to the discharge start command. Specifically, a drive device can be installed to drive the discharge chute to rotate horizontally.

[0029] In one specific implementation, during the docking process between the discharge chute of the unloading equipment and the feed area of ​​the hopper of the pumping equipment, the processor can control the position of the discharge chute to remain in a pre-discharge state. In the first image acquired by the first image acquisition device, the tail edge line of the discharge chute coincides with the first auxiliary line, and the rotation center line of the discharge chute coincides with the second auxiliary line. After the discharge chute of the unloading equipment and the feed area of ​​the hopper of the pumping equipment are docked, the unloading operation can be performed directly.

[0030] In another specific implementation, when the discharge chute of the unloading equipment is not aligned with the feeding area of ​​the hopper of the pumping equipment, the position of the discharge chute can be controlled to rotate to the pre-discharge state. At this time, the first image acquisition device is controlled to acquire a first image, and after generating a first auxiliary line and a second auxiliary line based on the first image, the position of the discharge chute is controlled to rotate to the retracted state. When the unloading equipment reverses, it only needs to be aligned according to the already marked first auxiliary line, second auxiliary line, and the real-time hopper auxiliary line. After the discharge chute of the unloading equipment is aligned with the feeding area of ​​the hopper of the pumping equipment, the position of the discharge chute is controlled to rotate to the pre-discharge state discharge chute to perform the unloading operation.

[0031] In embodiments of this application, the docking assistance method further includes: determining the area of ​​the feeding region of the pumping equipment included in the first image before generating the hopper auxiliary line in real time in the first image based on the area center line of the feeding region; and generating the hopper auxiliary line in real time in the first image based on the area center line of the feeding region when the area is detected to reach a preset area.

[0032] At the start of the docking process between the unloading and pumping equipment, the feed area of ​​the hopper may not appear in the first image. To accurately determine the center line of the feed area, the processor can determine the area of ​​the feed area included in the first image acquired by the first image acquisition device. During the docking process as the unloading and pumping equipment gradually approach each other, if the detected area reaches a preset area, it indicates that the entire feed area has entered the field of view of the first image acquisition device. Then, a hopper auxiliary line can be generated in real time in the first image based on the center line of the feed area. The preset area can be the area of ​​the complete feed area of ​​the hopper.

[0033] In the embodiments of this application, the feeding area of ​​the pumping equipment includes a screen area enclosed by multiple hopper edge lines. The hopper auxiliary lines also include a third auxiliary line and a fourth auxiliary line. Generating the hopper auxiliary line corresponding to the second position in the first image based on the second position of the center line of the feeding area of ​​the pumping equipment includes: real-time identification of target features in the first image, the target features including the screen and multiple hopper edge lines; extracting the contour coordinates of each hopper edge line in the first image; real-time determination of the centroid point of the screen area based on all the contour coordinates; and real-time generation of the third auxiliary line and the fourth auxiliary line based on the centroid point. The third auxiliary line and the fourth auxiliary line are parallel to the adjacent boundary lines of the screen area, and the intersection of the third auxiliary line and the fourth auxiliary line is the centroid point.

[0034] The processor can capture target features of the hopper in the first image based on visual target detection and recognition methods. Target features include the screen and multiple hopper edge lines. (Reference) Figure 3b hopper edge line The area enclosed by the two hoppers, end to end, is the screen area S. The processor can extract the edge lines of each hopper in the first image. The contour coordinates are used to determine the centroid M of the screen area in real time. Specifically, the image coordinates of the centroid M in the first image are determined according to the following formulas (1) and (2): (1) (2) in, "x" refers to the x-coordinate of the centroid point, and "x" refers to the x-th contour coordinate. It refers to the x-th contour coordinate. This refers to the number of contour coordinates. y refers to the ordinate of the centroid, and y refers to the y-th contour coordinate. It refers to the x-coordinate of the y-th contour coordinate.

[0035] Furthermore, such as Figure 3bAs shown, the third and fourth auxiliary lines are generated in real time based on the centroid M. Specifically, the exact location of the feeding area is determined based on the centroid M, and the center lines of the feeding area in both the horizontal and vertical directions are captured by identifying the edge of the hopper. The auxiliary lines are then automatically calculated and drawn by the system. Among them, the third auxiliary line... and the fourth auxiliary line This refers to the center line of the area, which is parallel to the adjacent boundary lines of the screen area, and the third auxiliary line. and the fourth auxiliary line The intersection point is the centroid M. Furthermore, centroid M is also the rotation center of the hopper's agitator shaft blades and the most sensitive area for height and undulation. Centroid M is located between the two blades of the hopper, and also in the middle of the hopper itself. This location prevents material from reaching the lower part of the hopper due to untimely discharge, thus avoiding overflow or cavitation. This reduces the probability of pipe blockage or splashing safety issues. Furthermore, the third auxiliary line... It is also located in front of the hopper cover and divides the screen area evenly in the first image. When the unloading equipment docks with the pumping equipment, the third auxiliary line can warn the operators to avoid collisions with the hopper cover behind the pumping equipment.

[0036] In embodiments of this application, the docking assistance method further includes: after determining the centroid, generating an auxiliary circle in the first image with the centroid as the center, wherein the diameter of the auxiliary circle is greater than the width of the tail edge of the discharge chute, and the radius of the auxiliary circle is less than half the width of the feeding area; generating a fifth auxiliary line in real time based on the tangent of the auxiliary circle parallel to the upper boundary line of the feeding area, wherein the upper boundary line refers to the boundary line of the feeding area that is farthest from the tail edge line of the discharge chute before unloading; and sending the first image, the discharge chute auxiliary line, the hopper auxiliary line, and the fifth auxiliary line to a display device for display.

[0037] refer to Figure 4a and Figure 4b After determining the centroid M of the feeding area using the above method, an auxiliary circle O can be generated in the first image with centroid M as its center. This auxiliary circle will not be displayed on the display device; instead, a tangent line generated from the auxiliary circle will serve as the fifth auxiliary line in the second image. This is displayed on the display device. Specifically, the diameter of the auxiliary circle is larger than the width of the tail edge of the feed chute, and the radius of the auxiliary circle is less than half the width of the feed area. The fifth auxiliary line... and the upper boundary line of the feeding area Parallel. Fifth auxiliary line. Its function is to serve as a warning line behind the feeding area, based on the safety requirements of the rear partition of the hopper, and to set the limit position that the discharge chute can reach, so as to avoid the problem of the hopper being damaged due to excessive reversing and direct impact.

[0038] In embodiments of this application, the docking assistance method further includes: after generating a third auxiliary line and a fourth auxiliary line based on the centroid point, determining a first included angle between the second auxiliary line and the third auxiliary line; determining the heading angle of the unloading equipment in real time based on the first included angle; controlling the unloading equipment to start reversing according to the heading angle so that the first included angle is less than or equal to a preset angle threshold; obtaining the current position of the discharge chute, the position of the hopper area, and the current rotation angle threshold of the unloading equipment; determining the target path for the discharge chute to move from the current position to the position of the feeding area based on the current position, the position of the unloading equipment, and the rotation angle threshold; controlling the unloading equipment to reverse along the target path so that the first auxiliary line and the fourth auxiliary line tend to coincide and the second auxiliary line and the third auxiliary line tend to coincide.

[0039] refer to Figure 5a Based on the above scheme, a third auxiliary line is generated according to the centroid point. and the fourth auxiliary line Then, the processor can use the second auxiliary lines generated on the first image. And the real-time third auxiliary line To determine the second auxiliary line in real time. and the third auxiliary line The first included angle According to the first included angle The heading angle of the unloading equipment is determined in real time. Specifically, the first included angle can be determined... Feedback is sent to the drive-by-wire chassis of the unloading equipment to control the steering wheel and automatically calibrate the vehicle's heading angle, thereby controlling the vehicle's direction of travel and achieving safe alignment with the hopper. The processor can first control the unloading equipment to begin reversing according to the heading angle, so that the first included angle... Less than or equal to the preset angle threshold. The preset angle threshold refers to the first included angle when the unloading equipment is docking and reversing. The corresponding error value. For example, the preset angle threshold can be a value between 0° and 5°. When the unloading equipment moves to the first included angle... If the angle is less than or equal to a preset angle threshold, the processor obtains the current position of the discharge chute, i.e., the current position of the unloading equipment. Furthermore, the processor also needs to obtain the position of the hopper area, i.e., the current position of the pumping equipment. The processor can also obtain the current rotation angle threshold of the unloading equipment. The rotation angle threshold refers to the maximum rotation angle of the vehicle chassis, which constrains the reversing path of the unloading equipment. Therefore, the processor can determine the target path for the discharge chute to move from its current position to the position of the feeding area based on the current position, the position of the feeding area, and the rotation angle threshold. The target path can be the shortest path from the current position to the feeding area under the constraints, or it can be the path with the shortest time. The generation of the target path can be based on a path planning algorithm, specifically the A* algorithm. (See reference...) Figure 5bWhen generating the target path, it can also determine the position of the unloading equipment when it reverses to the third auxiliary line after the unloading chute is in the current position. The center point M of the feed area is located at the middle position. At this point, the second auxiliary line can be determined when the unloading equipment is at this middle position. and the third auxiliary line The second included angle And when the unloading equipment is in its final position after docking, the second auxiliary line and the third auxiliary line The third included angle Therefore, the constraints for generating the target path also include the second included angle. equal to the third included angle .

[0040] Furthermore, the processor controls the unloading equipment to reverse along the target path, so that the unloading equipment is in its final position after docking, namely the first auxiliary line. With the fourth auxiliary line They are close to coinciding, and the second auxiliary line With the third auxiliary line The angles between the first and fourth auxiliary lines, and between the second and third auxiliary lines, are close to coincide. That is, the angles between the first and fourth auxiliary lines, and between the second and third auxiliary lines, are all within a preset angle range. When the first and fourth auxiliary lines, and the second and third auxiliary lines, are close to coincide, the processor can control the unloading equipment to stop, or the operator can manually control the unloading equipment to stop.

[0041] In embodiments of this application, the docking assistance method further includes: when the angle between the first auxiliary line and the fourth auxiliary line is not within a preset angle range, and / or when the second auxiliary line and the third auxiliary line are not within a preset angle range, the first auxiliary line, the second auxiliary line, the third auxiliary line, and the fourth auxiliary line are all displayed in a first preset color; when the angle between the first auxiliary line and the fourth auxiliary line is within a preset angle range, and the angle between the second auxiliary line and the third auxiliary line is within a preset angle range, the first auxiliary line, the second auxiliary line, the third auxiliary line, and the fourth auxiliary line are all displayed in a second preset color.

[0042] The first and second preset colors are different. The preset angle range refers to the error range corresponding to the angle between the auxiliary lines. For example, the preset angle range can be 0° to 5°. For example, if the angle between the first and fourth auxiliary lines is not within the preset angle range, and / or the angle between the second and third auxiliary lines is not within the preset angle range, the first, second, third, and fourth auxiliary lines will all be displayed in blue. If the angle between the first and fourth auxiliary lines is within the preset angle range, and the angle between the second and third auxiliary lines is within the preset angle range, the first, second, third, and fourth auxiliary lines will all be displayed in green.

[0043] S208, the first image, the feed chute auxiliary line, and the hopper auxiliary line are sent to the display device for display.

[0044] In embodiments of this application, the unloading device further includes a second image acquisition device installed in the rear lower region of the discharge chute. The docking assistance method further includes: acquiring a second image in real time through the second image acquisition device; generating a sixth auxiliary line in the second image based on the position of the bottom tangent of the discharge chute; generating a seventh auxiliary line in the second image based on the position of the axis center line of the discharge chute, wherein the sixth auxiliary line is perpendicular to the seventh auxiliary line; and sending the second image, the sixth auxiliary line, and the seventh auxiliary line to a display device for display.

[0045] Specifically, such as Figure 1 As shown, the second image acquisition device can be installed in the lower rear area of ​​the discharge chute, positioned at the center line of the rear of the unloading equipment. The acquisition direction of the second image acquisition device is directly behind the unloading equipment, and it acquires second images in real time. Figure 6a As shown, the second image includes the discharge chute 610 viewed from the front. When the unloading equipment is close to the hopper 620 of the pumping equipment, the rear baffle 621 of the hopper and the edge of the hopper can also be captured. Specifically, the processor generates a sixth auxiliary line in the second image based on the position of the bottom tangent of the feed chute. Based on the location of the center line of the feed chute, a seventh auxiliary line is generated in the second image. . refer to Figure 6b The feed chute can be a semi-cylindrical groove, with the bottom tangent being the tangent line of the semi-cylindrical groove, and the axis centerline being the centerline of the semi-cylindrical groove. To generate the sixth auxiliary line, the processor can also generate a seventh auxiliary line via the axis centerline. Next, along the axis centerline to the lower edge of the discharge chute, a line perpendicular to the seventh auxiliary line is generated; this is the sixth auxiliary line. Sixth auxiliary line With the seventh auxiliary line Vertical. For ease of illustration, the sixth and seventh auxiliary lines are shown slanted in the diagram, but they actually coincide with the bottom tangent of the discharge chute and the center line of the axis, respectively. These auxiliary lines help operators determine the height difference between the discharge chute and the hopper, thus assisting them in adjusting the discharge chute to the appropriate height.

[0046] In an embodiment of this application, the pumping device includes a hopper, and the docking assistance method further includes: when the second image is detected to include the lower edge of the hopper, generating an eighth auxiliary line in the second image in real time according to the real-time image position of the lower edge of the hopper; and sending the second image, the sixth auxiliary line, the seventh auxiliary line and the eighth auxiliary line to a display device for display.

[0047] like Figure 6c As shown, the second image includes the lower edge of the hopper. In this case, an image algorithm that uses visual recognition and image edge search localization can capture the lower edge of the hopper. The eighth auxiliary line is generated in real time in the second image. The processor can send the second image, the sixth auxiliary line, the seventh auxiliary line, and the eighth auxiliary line to the display device, displaying the image by overlaying the auxiliary lines onto the pure video image. The eighth auxiliary line can be used to assist operators in adjusting the discharge height of the discharge chute and to warn operators to prevent the discharge chute from hitting the lower edge of the hopper, which could cause damage to the discharge chute or hopper frame.

[0048] In embodiments of this application, the unloading device further includes a drive device connected to the discharge trough, and the docking assistance method further includes: after sending the second image, the sixth auxiliary line, the seventh auxiliary line, and the eighth auxiliary line to the display device for display, obtaining the operation command input by the user; controlling the drive device to drive the discharge trough to rotate according to the operation command, so as to adjust the height of the discharge trough; when the interval between the sixth auxiliary line and the eighth auxiliary line is within a preset distance range, controlling the drive device to stop driving, so that the discharge trough stops rotating.

[0049] After the second image, sixth auxiliary line, seventh auxiliary line, and eighth auxiliary line are sent to the display device for display, the operator can control the discharge chute by observing the second image and auxiliary lines displayed on the device, thereby controlling the discharge height of the chute. Specifically, the operator obtains the user's input operation command and controls the drive device to rotate the discharge chute according to the operation command, thereby adjusting the height of the discharge chute. When the interval between the sixth and eighth auxiliary lines is within a preset distance range, the operator controls the drive device to stop driving, so that the discharge chute stops rotating. Specifically, refer to... Figure 7The drive unit 710 connected to the discharge chute can be an electric motor or a servo motor with an encoder. A gear pair is formed by the installed pinion 720 and the gear 730 below the discharge chute. The rotation angle is determined by the conversion of the number of teeth. The angle and height of the discharge chute 750 are adjusted by controlling the hydraulic cylinder 740 of the drive unit. This allows for precise control of the discharge chute's alignment with the guide line, preventing uneven concrete coverage by the screen and avoiding hopper blockage or splashing injuries.

[0050] In one specific implementation, during the docking process between the discharge chute of the unloading equipment and the feed area of ​​the hopper of the pumping equipment, the processor can control the position of the discharge chute to remain in a pre-discharge state. In the first image acquired by the first image acquisition device, the tail edge line of the discharge chute coincides with the first auxiliary line, and the rotation center line of the discharge chute coincides with the second auxiliary line. In the second image, the bottom tangent of the discharge chute coincides with the sixth auxiliary line, and the axis center line of the discharge chute coincides with the seventh auxiliary line. After the discharge chute of the unloading equipment and the feed area of ​​the hopper of the pumping equipment are docked, the unloading operation can be performed directly.

[0051] In another specific implementation, when the discharge chute of the unloading equipment is not yet aligned with the feed area of ​​the hopper of the pumping equipment, the position of the discharge chute can be controlled to rotate to the pre-discharge state. At this time, the first image acquisition device is controlled to acquire a first image, and the second image acquisition device is controlled to acquire a second image. After generating the first and second auxiliary lines based on the first image, and the sixth and seventh auxiliary lines based on the second image, the position of the discharge chute is controlled to rotate to the retracted state. When the unloading equipment reverses, it only needs to be aligned horizontally according to the marked first and second auxiliary lines and the real-time hopper auxiliary line, and vertically according to the marked sixth and seventh auxiliary lines and the real-time eighth auxiliary line. After the discharge chute of the unloading equipment is aligned with the feed area of ​​the hopper of the pumping equipment, the position of the discharge chute is controlled to rotate to the pre-discharge state discharge chute.

[0052] In embodiments of this application, the display device includes a first display partition and a second display partition. The docking assistance method further includes: sending a first image, a discharge chute auxiliary line, and a hopper auxiliary line to the first display partition of the display device for display; and sending a second image, a sixth auxiliary line, a seventh auxiliary line, and an eighth auxiliary line to the second display partition of the display device for display. By dividing the display partitions, the first image and the second image are simultaneously displayed in their respective partitions, which can assist operators in accurately controlling the docking of the unloading equipment and the pumping equipment's hopper in the horizontal and vertical directions.

[0053] In embodiments of this application, the docking assistance method further includes: sending a second image, a sixth auxiliary line, a seventh auxiliary line, and an eighth auxiliary line to a display device, so that the display device switches to displaying the second image, the sixth auxiliary line, the seventh auxiliary line, and the eighth auxiliary line. After the display device displays the first image and its auxiliary lines, the operator can perform a reversing docking operation based on the auxiliary lines of the first image, so that the first auxiliary line and the fourth auxiliary line, and the second auxiliary line and the third auxiliary line, are nearly coincident, thereby achieving horizontal docking. Further, the display device switches to displaying the second image and its auxiliary lines, assisting the operator in controlling the drive device to adjust the height of the lower edge of the discharge chute, thereby achieving vertical docking.

[0054] Figure 8 This diagram schematically illustrates a structural block diagram of a docking auxiliary system for an unloading device according to an embodiment of this application. Figure 8 As shown, this application embodiment provides a docking auxiliary system 800 for unloading equipment, applied to unloading equipment including a discharge chute, the system including: The first image acquisition device 810 is installed in the area above the feeding trough to acquire the first image and send the first image to the display device 820.

[0055] The display device 820 is electrically connected to the first image acquisition device 810 and the processor 830. It is used to send the first image to the processor 830 during the unloading process of the unloading equipment, and to receive and display the first image sent by the processor 830 and the auxiliary line of the unloading chute.

[0056] The processor 830 is used to generate a discharge chute auxiliary line in the first image based on the first position of the discharge chute, and to generate a hopper auxiliary line in the first image in real time based on the area center line of the feeding area of ​​the pumping equipment.

[0057] The above technical solution uses a first image acquisition device to capture an overhead view of the discharge chute and feeding area. Based on the discharge chute's position in the pre-discharge state, auxiliary lines can be calibrated and generated on the display screen. This assists the unloading equipment in accurately completing the reversing docking unloading operation. Thus, manual unloading docking is eliminated, simplifying the process and improving unloading safety. Furthermore, it's equivalent to using radar sensors for unloading docking, significantly reducing the probability of malfunctions or failure due to concrete covering.

[0058] In embodiments of this application, the auxiliary lines of the discharge chute include a first auxiliary line and a second auxiliary line. The first auxiliary line is generated based on the tail edge line when the discharge chute is in the pre-discharge state. The second auxiliary line is generated based on the rotation center line when the discharge chute is in the pre-discharge state.

[0059] In embodiments of this application, the processor 830 is further configured to generate a hopper auxiliary line in real time in a first image based on the center line of the feed area of ​​the pumping equipment, and the display device is further configured to display the hopper auxiliary line.

[0060] By capturing images of the discharge chute and feeding area from a top-down perspective using the first image acquisition device, auxiliary lines can be calibrated based on the position of the discharge chute in the pre-discharge state and the real-time feeding area of ​​the hopper. The auxiliary lines of the discharge chute and the hopper are then generated on the display screen to assist the unloading equipment in accurately completing the unloading operation of reversing docking.

[0061] In the embodiments of this application, the feeding area of ​​the pumping equipment includes a hopper cover plate area surrounded by multiple hopper edge lines, and the hopper auxiliary lines also include a third auxiliary line and a fourth auxiliary line; wherein, the third auxiliary line and the fourth auxiliary line are parallel to the adjacent boundary lines of the hopper cover plate area, and the intersection of the third auxiliary line and the fourth auxiliary line is the centroid point of the hopper cover plate area.

[0062] refer to Figure 8 In an embodiment of this application, the processor 830 is further configured to generate a fifth auxiliary line based on the tangent of an auxiliary circle parallel to the upper boundary line of the feeding area, and send it to the display device 830. The upper boundary line refers to the boundary line of the feeding area that is furthest from the tail edge line of the discharge chute before unloading, and the center of the auxiliary circle is the centroid point. The display device 820 is further configured to display the fifth auxiliary line on the basis of displaying the first image, the discharge chute auxiliary line, and the hopper auxiliary line.

[0063] refer to Figure 8 In an embodiment of this application, system 800 further includes: a second image acquisition device 840, installed in the rear lower region of the feeding trough, for acquiring a second image and sending it to a display device 820; the display device 820 is also used to send the second image to a processor 830, and to receive and display the second image, a sixth auxiliary line, and a seventh auxiliary line sent by the processor 830; the processor 830 is also used to generate a sixth auxiliary line in the second image based on the position of the bottom tangent of the feeding trough, and to generate a seventh auxiliary line in the second image based on the position of the axis center line of the feeding trough, wherein the sixth auxiliary line is perpendicular to the seventh auxiliary line.

[0064] In an embodiment of this application, the pumping device includes a hopper; the processor is further configured to generate an eighth auxiliary line in the second image in real time based on the real-time position of the lower edge of the hopper when the lower edge of the second image is detected to be included; the display device 820 is further configured to display the eighth auxiliary line in addition to displaying the second image, the sixth auxiliary line, and the seventh auxiliary line.

[0065] In the embodiments of this application, the unloading device further includes a first fixing component, which is installed in the area below and behind the center line of the discharge chute and connected to a second image acquisition device. The acquisition direction of the second image acquisition device is parallel to the horizontal direction.

[0066] refer to Figure 9a The unloading equipment also includes a first fixing component 910, which is installed in the area below and behind the center line of the discharge chute and connected to a second image acquisition device 920. The acquisition direction of the second image acquisition device 920 is parallel to the horizontal direction. The first fixing component 910 can be a fixed base.

[0067] In embodiments of this application, the unloading device further includes a second fixing component installed above the rotation center line of the discharge chute, and the second fixing component is connected to the second image acquisition device.

[0068] refer to Figure 9b The unloading device also includes a second fixing component 930, which is installed in the area above the rotation center line of the discharge chute. The second fixing component 930 is connected to the first image acquisition device 940.

[0069] refer to Figure 9a and Figure 9b In an embodiment of this application, the second fixing component 930 includes a mounting base plate, the mounting base plate being at an angle to the horizontal direction. For the first The angle between the lens surface of the first image acquisition device 940 and the mounting base plate for The field of view of the first image acquisition device 940 for Specifically, the angle between the mounting base and the horizontal direction. It can be The angle between the lens surface of the first image acquisition device 940 and the mounting base plate for The field of view of the first image acquisition device 940 for .

[0070] Through the above technical solution, the first and second image acquisition devices capture different images at different positions on the unloading equipment, generating auxiliary lines for the discharge chute and dynamic auxiliary lines for the hopper on the display screen. This guides the unloading equipment to accurately complete the reversing docking unloading operation in both horizontal and vertical directions. Furthermore, the unloading equipment can be automatically controlled to reverse based on the auxiliary lines, achieving unmanned automatic docking. This eliminates the need for manual unloading docking operations, reducing safety hazards caused by concrete spraying and improving the safety of concrete pump truck operations. Compared to using radar sensors for unloading docking, this significantly reduces the probability of malfunctions or failures due to concrete covering.

[0071] This application provides a material unloading device, including the docking auxiliary system for the unloading device described above. The unloading device includes a first image acquisition device, a display device, a processor, and a discharge trough. The first image acquisition device is installed above the discharge trough and is used to acquire a first image and send it to the display device. The display device is electrically connected to the first image acquisition device and the processor, and is used to send the first image to the processor during the unloading process, and to receive and display the first image, the discharge trough auxiliary line, and the hopper auxiliary line sent by the processor. The processor is used to generate the discharge trough auxiliary line in the first image based on the first position of the discharge trough, and to generate the hopper auxiliary line in the first image in real time based on the center line of the feeding area of ​​the pumping device.

[0072] In embodiments of this application, the unloading equipment further includes a second image acquisition device, installed in the rear lower region of the discharge chute, and electrically connected to the display device. (See reference) Figure 10 The unloading equipment also includes reversing lights, installed above the hopper cover. These lights provide a bright field of view for the primary image acquisition device, enabling clear image capture even at night. The hopper's ultimate safety edge, such as... Figure 10 As shown.

[0073] This application provides an unloading system, including: Pumping equipment, including the feeding area; And the aforementioned unloading equipment.

[0074] Specifically, the unloading equipment can be a mixer truck, and the pumping equipment can be a pump truck. The mixer truck includes a first image acquisition device, a second image acquisition device, a discharge chute, a display device, and a processor. The pump truck includes a hopper, and the hopper includes a hopper cover and a screen. The processor is configured to execute the above-described docking assistance method for the unloading equipment to align the discharge chute with the hopper of the pump truck for unloading operation.

[0075] Figure 11This schematically illustrates a structural block diagram of a docking auxiliary device for an unloading equipment according to an embodiment of this application. Figure 11 As shown in the figure, this application provides a device for docking assistance of unloading equipment, which may include: Memory 1110 is configured to store instructions; and The processor 1120 is configured to retrieve instructions from the memory 1110 and, when executing the instructions, to implement the aforementioned method for controlling the boom.

[0076] Specifically, in this embodiment of the application, the processor 1120 can be configured to: The first image is acquired in real time using the first image acquisition device; When the unloading equipment is in the pre-unloading state, the corresponding auxiliary line of the unloading chute is generated in the first image according to the first position of the unloading chute. Based on the second position of the center line of the feeding area of ​​the pumping equipment, a hopper auxiliary line corresponding to the second position is generated in real time in the first image; The first image, the feed chute auxiliary line, and the hopper auxiliary line are sent to the display device for display.

[0077] In this embodiment of the application, the processor 1120 can be configured to: The material discharge chute auxiliary line includes a first auxiliary line and a second auxiliary line. Generating the corresponding material discharge chute auxiliary line in the first image based on the first position of the material discharge chute includes: generating the first auxiliary line in the first image based on the first position of the tail edge line of the material discharge chute; determining the rotation center line of the material discharge chute based on the first auxiliary line and the tail edge line of the material discharge chute; and generating the second auxiliary line in the first image based on the rotation center line.

[0078] In this embodiment of the application, the processor 1120 can be configured to: The feeding area of ​​the pumping equipment includes a screen area enclosed by multiple hopper edges. The hopper auxiliary lines also include a third auxiliary line and a fourth auxiliary line. The process of generating hopper auxiliary lines corresponding to the second position of the center line of the feeding area of ​​the pumping equipment in real time in the first image includes: real-time identification of target features in the first image, including the screen and multiple hopper edges; extraction of the contour coordinates of each hopper edge in the first image; real-time determination of the centroid of the screen area based on all the contour coordinates; and real-time generation of the third and fourth auxiliary lines based on the centroid. The third and fourth auxiliary lines are parallel to the adjacent boundary lines of the screen area, and the intersection of the third and fourth auxiliary lines is the centroid.

[0079] In this embodiment of the application, the processor 1120 can be configured to: The docking assistance method further includes: after determining the centroid, generating an auxiliary circle in the first image with the centroid as the center, wherein the diameter of the auxiliary circle is greater than the width of the tail edge of the discharge chute, and the radius of the auxiliary circle is less than half the width of the feeding area; generating a fifth auxiliary line in real time based on the tangent of the auxiliary circle parallel to the upper boundary line of the feeding area, wherein the upper boundary line refers to the boundary line of the feeding area that is farthest from the tail edge line of the discharge chute before unloading; and sending the first image, the discharge chute auxiliary line, the hopper auxiliary line, and the fifth auxiliary line to the display device for display.

[0080] In this embodiment of the application, the processor 1120 can be configured to: The docking assistance method also includes: after generating the third and fourth auxiliary lines based on the centroid, determining the first included angle between the second and third auxiliary lines; determining the heading angle of the unloading equipment in real time based on the first included angle; controlling the unloading equipment to start reversing according to the heading angle so that the first included angle is less than or equal to a preset angle threshold; obtaining the current position of the discharge chute, the position of the hopper area, and the current rotation angle threshold of the unloading equipment; determining the target path for the discharge chute to move from the current position to the position of the feeding area based on the current position, the position of the unloading equipment, and the rotation angle threshold; controlling the unloading equipment to reverse along the target path so that the first and fourth auxiliary lines approach coincide and the second and third auxiliary lines approach coincide.

[0081] In this embodiment of the application, the processor 1120 can be configured to: The docking assistance method further includes: when the angle between the first auxiliary line and the fourth auxiliary line is not within a preset angle range, and / or when the second auxiliary line and the third auxiliary line are not within a preset angle range, the first auxiliary line, the second auxiliary line, the third auxiliary line, and the fourth auxiliary line are all displayed in a first preset color; when the angle between the first auxiliary line and the fourth auxiliary line is within a preset angle range, and the angle between the second auxiliary line and the third auxiliary line is within a preset angle range, the first auxiliary line, the second auxiliary line, the third auxiliary line, and the fourth auxiliary line are all displayed in a second preset color.

[0082] In this embodiment of the application, the processor 1120 can be configured to: The unloading equipment also includes a second image acquisition device installed in the rear lower area of ​​the discharge chute. The docking assistance method further includes: acquiring a second image in real time through the second image acquisition device; generating a sixth auxiliary line in the second image based on the position of the bottom tangent of the discharge chute; generating a seventh auxiliary line in the second image based on the position of the axis center line of the discharge chute, wherein the sixth auxiliary line is perpendicular to the seventh auxiliary line; and sending the second image, the sixth auxiliary line, and the seventh auxiliary line to a display device for display.

[0083] In this embodiment of the application, the processor 1120 can be configured to: The pumping equipment includes a hopper, and the docking assistance method further includes: when the second image is detected to include the lower edge of the hopper, generating an eighth auxiliary line in the second image in real time according to the real-time image position of the lower edge of the hopper; and sending the second image, the sixth auxiliary line, the seventh auxiliary line and the eighth auxiliary line to a display device for display.

[0084] In this embodiment of the application, the processor 1120 can be configured to: The unloading equipment also includes a drive device connected to the discharge chute. The docking assistance method further includes: after sending the second image, the sixth auxiliary line, the seventh auxiliary line, and the eighth auxiliary line to the display device for display, obtaining the operation command input by the user; controlling the drive device to drive the discharge chute to rotate according to the operation command, so as to adjust the height of the discharge chute; when the interval between the sixth auxiliary line and the eighth auxiliary line is within a preset distance range, controlling the drive device to stop driving, so that the discharge chute stops rotating.

[0085] In this embodiment of the application, the processor 1120 can be configured to: The display device includes a first display zone and a second display zone. The docking assistance method further includes: sending a first image, a feeding trough auxiliary line, and a hopper auxiliary line to the first display zone of the display device for display; and sending a second image, a sixth auxiliary line, a seventh auxiliary line, and an eighth auxiliary line to the second display zone of the display device for display.

[0086] In this embodiment of the application, the processor 1120 can be configured to: The docking assistance method further includes sending the second image, the sixth auxiliary line, the seventh auxiliary line, and the eighth auxiliary line to the display device, so that the display device switches to displaying the second image, the sixth auxiliary line, the seventh auxiliary line, and the eighth auxiliary line.

[0087] In this embodiment of the application, the processor 1120 can be configured to: The docking assistance method further includes: determining the area of ​​the feeding area of ​​the pumping equipment included in the first image before generating the hopper auxiliary line in real time in the first image based on the area center line of the feeding area; and generating the hopper auxiliary line in real time in the first image based on the area center line of the feeding area when the area is detected to reach a preset area.

[0088] In this embodiment of the application, the processor 1120 can be configured to: The docking assistance method also includes: obtaining the unloading start command for the unloading equipment; controlling the horizontal rotation of the discharge chute according to the unloading start command so that the unloading equipment is in a ready unloading state.

[0089] The above technical solution uses auxiliary lines calibrated based on the actual positions of the discharge chute and the feeding area. These auxiliary lines, along with dynamic hopper auxiliary lines, are generated on the display screen, guiding the unloading equipment precisely to complete the reversing docking unloading operation in both horizontal and vertical directions. Furthermore, the unloading equipment can be automatically controlled to reverse based on the auxiliary lines, achieving unmanned, automated docking. This eliminates the need for manual unloading docking operations, reducing safety hazards caused by concrete spraying and improving the safety of concrete pump truck operations. Compared to using radar sensors for unloading docking, this significantly reduces the probability of malfunctions or failures due to concrete covering.

[0090] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described docking assistance method for unloading equipment.

[0091] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 12 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database stores data for docking assistance of the unloading equipment. The network interface A02 communicates with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a method for docking assistance of the unloading equipment.

[0092] Those skilled in the art will understand that Figure 12 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0093] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0094] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A docking auxiliary method for unloading equipment, characterized in that, The unloading equipment includes a discharge trough, a first image acquisition device, and a display device. The first image acquisition device is installed in the upper area of ​​the discharge trough. The docking assistance method includes: The first image is acquired in real time by the first image acquisition device; When the unloading equipment is in the pre-unloading state, a corresponding unloading trough auxiliary line is generated in the first image according to the first position of the unloading trough. The unloading trough auxiliary line includes a first auxiliary line and a second auxiliary line. Based on the second position of the center line of the feeding area of ​​the pumping equipment, a hopper auxiliary line corresponding to the second position is generated in real time in the first image; The first image, the feed trough auxiliary line, and the hopper auxiliary line are sent to the display device for display. The step of generating a corresponding auxiliary line for the feeding trough in the first image based on the first position of the feeding trough includes: generating the first auxiliary line in the first image based on the first position of the tail edge line of the feeding trough; determining the rotation center line of the feeding trough based on the first auxiliary line and the tail edge line of the feeding trough; and generating the second auxiliary line in the first image based on the rotation center line.

2. The docking auxiliary method for unloading equipment according to claim 1, characterized in that, The feeding area of ​​the pumping equipment includes a screen area enclosed by the edges of multiple hoppers. The hopper auxiliary lines also include a third auxiliary line and a fourth auxiliary line. The hopper auxiliary lines corresponding to the second position are generated in real-time in the first image based on the second position of the center line of the feeding area of ​​the pumping equipment. Real-time identification of target features in the first image, the target features including the screen and the edge lines of the plurality of hoppers; Extract the contour coordinates of each hopper edge line in the first image; The centroid of the screen area is determined in real time based on all the contour coordinates; The third auxiliary line and the fourth auxiliary line are generated in real time based on the centroid point, wherein the third auxiliary line and the fourth auxiliary line are parallel to the adjacent boundary lines of the screen area, and the intersection of the third auxiliary line and the fourth auxiliary line is the centroid point.

3. The docking auxiliary method for unloading equipment according to claim 2, characterized in that, The docking assistance method also includes: After determining the centroid, an auxiliary circle is generated in the first image with the centroid as the center. The diameter of the auxiliary circle is greater than the width of the tail edge of the feeding chute, and the radius of the auxiliary circle is less than half the width of the feeding area. A fifth auxiliary line is generated in real time based on the tangent of the auxiliary circle parallel to the upper boundary line of the feeding area, wherein the upper boundary line refers to the boundary line of the feeding area that is furthest from the tail edge line of the discharge chute before unloading. The first image, the feed trough auxiliary line, the hopper auxiliary line, and the fifth auxiliary line are sent to the display device for display.

4. The docking auxiliary method for unloading equipment according to claim 2, characterized in that, The docking assistance method also includes: After generating the third auxiliary line and the fourth auxiliary line based on the centroid point, determine the first included angle between the second auxiliary line and the third auxiliary line; The heading angle of the unloading equipment is determined in real time based on the first included angle. Control the unloading equipment to start reversing according to the heading angle so that the first included angle is less than or equal to a preset angle threshold; Obtain the current position of the discharge chute, the position of the hopper area, and the current rotation angle threshold of the unloading equipment; The target path for the discharge chute to move from the current position to the position of the feeding area is determined based on the current position, the position of the unloading device, and the rotation angle threshold. Control the unloading device to reverse along the target path, so that the first auxiliary line and the fourth auxiliary line are close to coinciding and the second auxiliary line and the third auxiliary line are close to coinciding.

5. The docking auxiliary method for unloading equipment according to claim 2, characterized in that, The docking assistance method also includes: When the angle between the first auxiliary line and the fourth auxiliary line is not within a preset angle range, and / or when the second auxiliary line and the third auxiliary line are not within a preset angle range, the first auxiliary line, the second auxiliary line, the third auxiliary line, and the fourth auxiliary line are all displayed in the first preset color; When the angle between the first auxiliary line and the fourth auxiliary line is within a preset angle range, and the angle between the second auxiliary line and the third auxiliary line is within a preset angle range, the first auxiliary line, the second auxiliary line, the third auxiliary line, and the fourth auxiliary line are all displayed in the second preset color.

6. The docking auxiliary method for unloading equipment according to claim 1, characterized in that, The unloading equipment further includes a second image acquisition device installed in the rear lower region of the discharge chute, and the docking assistance method further includes: The second image is acquired in real time using the second image acquisition device; A sixth auxiliary line is generated in the second image based on the position of the bottom tangent of the feeding trough; A seventh auxiliary line is generated in the second image based on the position of the center line of the feeding trough, wherein the sixth auxiliary line is perpendicular to the seventh auxiliary line; The second image, the sixth auxiliary line, and the seventh auxiliary line are sent to the display device for display.

7. The docking auxiliary method for unloading equipment according to claim 6, characterized in that, The pumping equipment includes a hopper, and the docking assistance method further includes: If the second image is detected to include the lower edge of the hopper, an eighth auxiliary line is generated in the second image in real time according to the real-time image position of the lower edge of the hopper; The second image, the sixth auxiliary line, the seventh auxiliary line, and the eighth auxiliary line are sent to the display device for display.

8. The docking auxiliary method for unloading equipment according to claim 7, characterized in that, The unloading equipment further includes a drive device connected to the discharge chute, and the docking assistance method further includes: After sending the second image, the sixth auxiliary line, the seventh auxiliary line, and the eighth auxiliary line to the display device for display, the operation command input by the user is obtained; The operating instructions control the drive device to drive the discharge trough to rotate, thereby adjusting the height of the discharge trough; When the interval between the sixth auxiliary line and the eighth auxiliary line is within a preset distance range, the driving device is controlled to stop driving, so that the feeding trough stops rotating.

9. The docking auxiliary method for unloading equipment according to claim 7, characterized in that, The display device includes a first display partition and a second display partition, and the docking assistance method further includes: The first image, the feed trough auxiliary line, and the hopper auxiliary line are sent to the first display partition of the display device for display. The second image, the sixth auxiliary line, the seventh auxiliary line, and the eighth auxiliary line are sent to the second display partition of the display device for display.

10. The docking auxiliary method for unloading equipment according to claim 7, characterized in that, The docking assistance method also includes: The second image, the sixth auxiliary line, the seventh auxiliary line, and the eighth auxiliary line are sent to the display device so that the display device switches to displaying the second image, the sixth auxiliary line, the seventh auxiliary line, and the eighth auxiliary line.

11. The docking auxiliary method for unloading equipment according to claim 1, characterized in that, The docking assistance method also includes: Before generating the hopper auxiliary line in the first image in real time based on the center line of the feeding area, determine the area of ​​the feeding area of ​​the pumping equipment included in the first image; When the area of ​​the region is detected to reach a preset area, the hopper auxiliary line is generated in real time in the first image based on the center line of the feeding area.

12. The docking auxiliary method for unloading equipment according to claim 1, characterized in that, The docking assistance method also includes: Obtain the unloading start command for the unloading equipment; The unloading start command controls the horizontal rotation of the discharge chute to put the unloading equipment into a ready-to-unload state.

13. A docking auxiliary device for unloading equipment, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the docking assistance method for an unloading device according to any one of claims 1 to 12.

14. A material unloading device, characterized in that, include: Feed chute; The first image acquisition device is installed in the area above the feeding trough; The display device is electrically connected to the first image acquisition device; as well as The docking auxiliary device for unloading equipment according to claim 13.

15. The unloading device according to claim 14, characterized in that, Also includes: The second image acquisition device is installed in the rear lower area of ​​the feeding trough and is electrically connected to the display device.

16. A discharge system, characterized in that, include: Pumping equipment, including the feed area; and The unloading device according to claim 14 or 15.

17. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform a docking assistance method for an unloading device according to any one of claims 1 to 12.

Images