Sampling method, device, computing device and storage medium

Abstract

Embodiments of this specification provide a sampling method, apparatus, computing device, and storage medium, wherein the sampling method includes: determining the position information of a loading device within a sampling area when the loading device enters the sampling area, wherein the loading device is used to carry objects to be sampled, and the sampling area is provided with a sampling device; obtaining structural information of the loading device, and determining a waiting area for sampling of the loading device based on the position information and the structural information; determining at least one sampling point within the waiting area, and controlling the sampling device to move to the sampling point to collect the objects to be sampled. The sampling method of this specification enables automated and intelligent control of the entire process from generating sampling points to sampling, reducing manual labor intensity and improving work efficiency.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of sampling technology, and more particularly to a sampling method, apparatus, computing device, and storage medium. Background Art

[0002] During the procurement process of coal, sand, red clay or other industrial production materials, in order to ensure the quality of the production materials, the buyer will randomly sample the vehicles transporting the seller's production materials to test the quality of the materials in the transportation vehicles.

[0003] In the existing technology, sampling is usually done manually, that is, the sampling personnel use a sampling forklift to collect samples on the vehicle, and then send the samples for testing and analysis. This method has poor representativeness and is difficult to reflect the true quality of the materials carried in the vehicle. In addition, this method is not safe enough for the sampling personnel.

[0004] Therefore, it is urgent to provide a solution to solve the above problems. Summary of the Invention

[0005] In view of this, embodiments of this specification provide a sampling method. One or more embodiments of this specification also relate to a sampling device, a computing device, and a computer-readable storage medium to address technical deficiencies in the prior art.

[0006] According to a first aspect of the embodiments of this specification, a sampling method is provided, including:

[0007] When a loading device enters a sampling area, determining position information of the loading device in the sampling area, wherein the loading device is used to load objects to be sampled, and the sampling area is provided with a sampling device;

[0008] Acquiring structural information of the loading device, and determining a waiting area for mining of the loading device according to the position information and the structural information;

[0009] At least one sampling point is determined in the waiting area, and the sampling device is controlled to move to the sampling point to collect the object to be sampled.

[0010] According to a second aspect of the embodiments of this specification, a sampling device is provided, comprising:

[0011] a position information acquisition module configured to determine position information of a loading device in a sampling area when the loading device enters the sampling area, wherein the loading device is used to load objects to be sampled and a sampling device is provided in the sampling area;

[0012] a waiting area determination module configured to obtain structural information of the loading device and determine a waiting area of ​​the loading device based on the position information and the structural information;

[0013] The sampling control module determines at least one sampling point in the waiting area and controls the sampling device to move to the sampling point to collect the object to be sampled.

[0014] According to a third aspect of an embodiment of this specification, a computing device is provided, including:

[0015] memory and processor;

[0016] The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the above-mentioned sampling method are implemented.

[0017] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the above-mentioned sampling method are implemented.

[0018] An embodiment of the present specification automatically generates a waiting area based on structural information and position information, and generates sampling points in the waiting area, making the sampling process more scientific and standardized. The sampling equipment is controlled according to the sampling points to perform automatic sampling, so that the entire process from generating sampling points to sampling is automated and intelligently controlled, reducing manual labor intensity and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a flow chart of a sampling method provided by one embodiment of this specification;

[0020] Figure 2 is a schematic diagram of a sampling method provided by another embodiment of this specification, in which the first coordinate system is a two-dimensional coordinate system;

[0021] Figure 3 is a schematic diagram of a sampling method provided by another embodiment of this specification, in which the first coordinate system is a three-dimensional coordinate system;

[0022] Figure 4 is a schematic diagram of a sampling method provided in another embodiment of this specification, in which the second coordinate system is a two-dimensional coordinate system;

[0023] Figure 5 is a schematic diagram of a sampling method provided in another embodiment of this specification, in which the second coordinate system is a three-dimensional coordinate system;

[0024] Figure 6This is a flowchart of a sampling method provided in another embodiment of this specification, applied to a sampling scenario of a coal transport vehicle;

[0025] Figure 7 This is a schematic structural diagram of a sampling device provided in another embodiment of this specification;

[0026] Figure 8 It is a structural block diagram of a computing device provided in another embodiment of this specification. DETAILED DESCRIPTION

[0027] The following description sets forth many specific details to facilitate a thorough understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the scope of this specification. Therefore, this specification is not limited to the specific implementations disclosed below.

[0028] The terms used in one or more embodiments of this specification are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of this specification. The singular forms "a," "the," and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0029] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0030] In addition, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0031] During material transportation, sampling is a key means of ensuring quality and safety. Through sampling and testing, we can understand material quality, identify potential safety hazards, and optimize transportation management. Developing a reasonable sampling plan, employing advanced sampling techniques, and establishing a comprehensive sampling data management system are key to effective sampling.

[0032] Take coal as an example. During the coal transportation procurement process, in order to ensure the quality of the coal, the buyer will sample the coal loaded in the transport vehicle to test the quality of the coal. The traditional sampling method is to manually collect samples on the vehicle using a sampling shovel and then send the samples for testing and analysis. This method has poor representativeness and is difficult to reflect the true quality of the coal loaded in the vehicle. In addition, this method is less safe for the sampling personnel.

[0033] To this end, this specification provides a sampling method, which also involves a sampling device, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0034] See also Figure 1 , Figure 1 A flow chart of a sampling method provided according to an embodiment of the present specification is shown, which specifically includes the following steps.

[0035] Step 102: When a loading device enters a sampling area, determining the position information of the loading device in the sampling area, wherein the loading device is used to load objects to be sampled, and a sampling device is provided in the sampling area.

[0036] Specifically, the loading equipment can be a vehicle or container for transporting or loading the objects to be sampled, such as a truck, a van, a cargo ship, a container, etc. The sampling area is an area used to park the loading equipment. The sampling area enables the sampling device, the ranging device, the camera, etc. to obtain relevant information of the loading equipment. The objects to be sampled refer to materials whose quality needs to be inspected by sampling. The sampling device is an automated device used to sample the objects to be sampled in the loading equipment. The sampling device can receive control signals sent by the control device.

[0037] Based on this, in order to detect the quality of the objects to be sampled loaded in the loading device, it is necessary to sample the objects to be sampled. Before sampling, the loading device must first enter the sampling area and park within the sampling area. The position information of the loading device in the sampling area can be determined using a distance measuring device, camera, etc. The position information can be expressed as coordinates, or a certain position can be selected as a reference point and expressed as the distance and direction relative to the reference point.

[0038] Furthermore, in order to facilitate the acquisition of the vehicle's position information, the sampling area is provided with a ranging device; determining the position information of the loading device in the sampling area includes: establishing a first coordinate system based on the sampling area; and determining the boundary position of the loading device in the first coordinate system according to the measurement results of the ranging device.

[0039] Specifically, the first coordinate system may be a two-dimensional coordinate system or a three-dimensional coordinate system. The distance measuring device may be an electronic grating device or an acoustic wave device.

[0040] In the case where the first coordinate system is a two-dimensional coordinate system, the first coordinate system is established based on a plane obtained by looking down at the entire sampling area, and the origin of the first coordinate system can be any point in the sampling area. Figure 2 As shown, the two-dimensional coordinates of the distance measuring device can be predetermined based on the current first coordinate system. The distance between the distance measuring device and the loading device can be measured by the distance measuring device to determine the boundary position of the loading device in the first coordinate system. To obtain a more accurate boundary position of the loading device, two distance measuring devices can be set in the sampling area, each used to measure the boundary position of a different boundary of the loading device.

[0041] For example, in one embodiment of the present specification, an overhead image of the sampling area can be acquired by a camera or satellite. Based on the acquired overhead image, a first coordinate system is established with point A of the sampling area in the overhead image as the origin. The x-axis of the first coordinate system coincides with side AD of the sampling area, and the y-axis coincides with side AB of the sampling area. Assume that the loading device is truck 201. The coordinates of first ranging device 202 in the first coordinate system are (0, 50). The distance between first ranging device 202 and the rear of truck 201 is measured as 30. Therefore, the rear of truck 201 is determined to be located on a straight line with an x-coordinate of 30. The position of second ranging device 203 in the first coordinate system is (50, 0). The distance between second ranging device 203 and the side of the truck 201 closest to the second ranging device 203 is measured as 50. Therefore, the side of the truck 201 closest to the second ranging device 203 is determined to be located on a straight line with a y-coordinate of 50.

[0042] In the case where the first coordinate system is a three-dimensional coordinate system, the first coordinate system is established based on the three-dimensional space where the entire sampling area is located, and the origin of the first coordinate system can be any point in the space where the sampling area is located. Figure 3As shown, the three-dimensional coordinates of the distance measuring device can be predetermined based on the current first coordinate system. Based on the distance between the distance measuring device and the loading device measured by the distance measuring device, the boundary position of the loading device's boundary in the first coordinate system can be determined. To obtain a more accurate boundary position for the loading device, three distance measuring devices can be provided in the sampling area, each used to measure the boundary position of a different boundary of the loading device.

[0043] For example, in another embodiment of the present specification, the spatial characteristics of the sampling area can be obtained by a camera or a satellite, and the spatial characteristics include the horizontal and vertical ranges of the location of the sampling area. A first coordinate system is established with point A of the sampling area as the origin. The x-axis of the first coordinate system coincides with the AD side of the sampling area, the y-axis coincides with the AB side of the sampling area, and the z-axis coincides with the AE side of the sampling area. It is assumed that the loading device is a truck 301. The coordinates of the first ranging device 302 in the first coordinate system are (0, 50, 50). The distance between the first ranging device 302 and the rear of the truck 301 is measured as 30. It can be determined that the rear of the truck 201 is located on a plane with an x-coordinate of 30. The position of the second ranging device 303 in the first coordinate system is (50, 0, 50). The distance between the second ranging device 303 and the side of the truck 201 close to the second ranging device 303 is measured as 50. It can be determined that the side of the truck close to the second ranging device 303 is located on a plane with a y-coordinate of 50. The position of the third ranging device 304 in the first coordinate system is (100, 300, 100). The distance between the third ranging device 304 and the top surface of the truck 201 is measured as 50. It can be determined that the roof of the truck 201 is located on a plane with a z-coordinate of 250.

[0044] In the embodiments of this specification, a coordinate system can be established in the sampling area, and the boundary position of the loading device can be accurately obtained by measuring with a distance measuring device, so as to facilitate the subsequent acquisition of the area in the loading device where sampling can be performed.

[0045] Step 104: Acquire the structural information of the loading device, and determine the waiting area of ​​the loading device according to the position information and the structural information.

[0046] Specifically, the structural information includes information such as the position and size of the structure constituting the loading device, for example, information such as the length, width, and height of the loading device. The sampling area refers to an area in the loading device where sampling can be performed.

[0047] Based on this, in order to ensure that the generated sampling points fall within the area where the transfer equipment can perform sampling, it is necessary to first obtain the structural information of the loading equipment, and then determine the candidate sampling area of ​​the loading equipment based on the obtained loading equipment position information and structural information, that is, determine which areas of the loading equipment can be sampled.

[0048] Furthermore, in order to prevent the distance between the generated sampling points and the structure of the loading equipment from being too close, thereby causing damage to the structure of the loading equipment, the structural information includes the target structure position of the loading equipment, and the target structure is a structure that limits sampling; determining the waiting area for sampling of the loading equipment based on the position information and the structural information includes: obtaining structural constraint conditions, wherein the structural constraint conditions are used to constrain the safety distance of the target structure; determining the area in the loading area that meets the structural constraint conditions as the waiting area for sampling, wherein the loading area is the area within the boundary position.

[0049] Specifically, the target structure refers to a structure that limits sampling, which can be understood as a structure that can limit the sampling range and hinder sampling. For example, the target structure can be the board, door, beam, rib plate, etc. of the loading equipment. The structural constraint condition is used to constrain the safe distance of the target structure. It refers to the minimum distance between the sampling device and the target structure during the sampling process without damaging the target structure. The loading area is the area within the boundary position of the loading equipment. For example, if the loading equipment is a carriage, the boundary position of the loading equipment is the carriage wall, and the loading area is the range within the carriage wall.

[0050] Based on this, since loading equipment usually sets up other protective structures to constrain the objects to be sampled in order to prevent them from falling, during the sampling process, the area where sampling can be carried out needs to be limited to the loading area. Furthermore, during the sampling process, in order to prevent the sampling device from damaging the target structure in the loading equipment, the position of the target structure in the loading area will be excluded according to the constraint conditions, and the range between the loading area and the target structure that meets the structural constraint conditions will be used as the candidate area.

[0051] See also Figure 2, using the above example, when the first coordinate system is a two-dimensional coordinate system, the process of determining the prospective mining area is as follows: the structural information includes that the length of the vehicle is 500, the width is 200, and the height is 200. In addition, the target structural position in the structural information includes that the number of tie bars of the vehicle is 2, the length of the tie bars is 200, and they are all set on the top of the car body parallel to the rear of the vehicle, and are located at 150 and 350 from the rear of the vehicle respectively. The obtained structural constraints include: the car body protection distance is 30, the reinforcement protection distance is 30, and based on the boundary position x=30, y=50, as well as the length, width, and height of the car body, the coordinate range of the loading area can be determined as: {30≤x≤530,50≤y≤250}. Based on the target structure position, the coordinate ranges of the reinforcement positions of the vehicle are {x=180,50≤y≤250} and {x=380,50≤y≤250}. Furthermore, based on the car body protection distance and reinforcement protection distance of the vehicle, the coordinate ranges of the waiting area of ​​the car body are {60≤x≤150,80≤y≤220}{210≤x≤350,80≤y≤220}{410≤x≤500,80≤y≤220}.

[0052] See also Figure 3 , using Example 2, when the first coordinate system is a three-dimensional coordinate system, the process of determining the waiting area is as follows: the structural information includes that the length of the vehicle is 500, the width is 200, and the height is 200. In addition, the target structural position in the structural information includes that the number of vehicle ties is 2, and the ties are 200 long, both of which are set parallel to the rear of the vehicle on the top of the vehicle body, and are located at 150 and 350 from the rear of the vehicle, respectively. The obtained structural constraints include: the vehicle body protection distance is 30, the ties protection distance is 30, and based on the boundary position x=30, y=50, z=250, and the length, width, and height of the vehicle body, the coordinate range of the loading area can be determined as: {30≤x≤430,50≤y≤250,50≤z≤250}. According to the target structural position, it can be determined that the coordinate range of the vehicle ties is {x=180,50≤y≤250,z=2 50}, {x=380,50≤y≤250,z=250}, further, according to the vehicle compartment protection distance and the reinforcement protection distance, it can be determined that the coordinate ranges of the waiting area of ​​the compartment are {60≤x≤150,80≤y≤220,80≤z≤220}{210≤x≤350,80≤y≤220,80≤z≤220}{410≤x≤500,80≤y≤220,80≤z≤220}.

[0053] In the embodiments of this specification, by obtaining the target structural position and structural constraints of the loading equipment, and combining it with the previously determined position information of the loading equipment, the physical structure of the vehicle can be avoided during the acquisition of the waiting area, preventing the sampling head from causing damage to the loading equipment during the maintenance process.

[0054] Step 106: Determine at least one sampling point in the waiting area, and control the sampling device to move to the sampling point to collect the object to be sampled.

[0055] Specifically, a sampling point is a point selected from a candidate area of ​​the loading device. This point can be used to indicate the location where the sampling device will take a sample. Based on the generated sampling point location, the sampling device is then controlled to move to the sampling point and sample the object at the sampling point. The object to be sampled is the substance loaded in the loading device that needs to be sampled.

[0056] Furthermore, determining at least one sampling point in the candidate area includes: determining at least one sampling point in the candidate area based on a set rule, and determining the position coordinates of the sampling point in the first coordinate system.

[0057] Specifically, the setting rule includes randomly determining at least one sampling point within each candidate area, or determining at least one sampling point within the candidate area according to a preset rule, and determining the position coordinates of the at least one sampling point in the first coordinate system. Since the coordinate range of the candidate area has been determined, at least one coordinate point can be randomly selected within the coordinate range of the candidate area, used as the sampling point, and the corresponding coordinates of the coordinate point used as the position coordinates of the sampling point in the first coordinate system.

[0058] Furthermore, determining at least one sampling point within the candidate area according to a preset rule includes determining the number of sampling points within the candidate area based on the size of the candidate area, and setting at least a preset number of sampling points within the sampling area when the size of the sampling area is greater than a preset volume or a preset area. For example, when the area of ​​the sampling area is greater than 13,000 square feet, at least four sampling points are randomly determined within the candidate area.

[0059] In the embodiments of this specification, by determining sampling points in the candidate area based on preset rules, on the one hand, the determined sampling points can all be located within the candidate area, that is, the determined sampling points can be sampled without causing the sampling device to collide with the loading device during sampling. On the other hand, the sampling points determined by the preset rules can make the obtained sampling points more reasonable and representative.

[0060] In another embodiment of the present specification, determining the position coordinates of the sampling point in the first coordinate system includes: establishing a second coordinate system based on the loading area formed by the boundary position, and determining the sampling coordinates of the sampling point in the second coordinate system; and converting the sampling coordinates to the first coordinate system to obtain the position coordinates of the sampling point in the first coordinate system.

[0061] Specifically, the second coordinate system is constructed based on the loading device, and the coordinate origin of the second coordinate system can be any point on the loading device. The second coordinate system is established based on the loading area formed by the boundary position of the loading device. The second coordinate system can also be a two-dimensional coordinate system or a three-dimensional coordinate system. In this case, the waiting area of ​​the loading device can be determined based on the second coordinate system, without the need to determine the waiting area of ​​the loading device according to the first coordinate system. At least one sampling point is randomly generated in the waiting area. Since the sampling point is generated in the second coordinate system at this time, and the position coordinates of the sampling device are determined based on the first coordinate, it is necessary to convert the coordinates of the sampling point from the second coordinate system to the first coordinate system.

[0062] See also Figure 4 , using the above example, when the second coordinate system is a two-dimensional coordinate system, the straight line where the boundary position x=30 determined based on the first coordinate system is located is the x-axis of the second coordinate system, and the straight line where y=50 is located is the y-axis of the second coordinate system. According to the second coordinate system, the coordinate ranges of the candidate areas can be determined to be {30≤x≤120,30≤y≤170}{180≤x≤320,30≤y≤170}{380≤x≤470,30≤y≤170}. A sampling point randomly determined in each candidate area is located in the second coordinate system. The coordinates of the sampling points in the second coordinate system are A(70, 40), B(195, 130), and C(430, 100). At this time, the coordinates of the sampling points in the second coordinate system need to be converted to the first coordinate system. That is, the horizontal coordinate of the sampling point in the second coordinate system is increased by 30 and the vertical coordinate is increased by 50. The converted sampling points are A'(100, 90), B'(225, 180), and C'(460, 150). Points A', B', and C' are used as sampling points, and the coordinates corresponding to points A', B', and C' are used as the position coordinates of the sampling points.

[0063] See also Figure 5, using the above example, when the second coordinate system is a three-dimensional coordinate system, the straight line where the boundary position x=30 and z=250 determined based on the first coordinate system is located is used as the y-axis of the second coordinate system, the straight line where y=50 and z=250 is located is used as the x-axis of the second coordinate system, and the straight line where x=30 and y=50 is located is used as the z-axis of the second coordinate system. According to the second coordinate system, the coordinate ranges of the candidate mining area can be determined as {30≤x≤120,-170≤y≤-30,30≤z≤170}{180≤x≤320,-170≤y≤-30}{380≤x≤470,30≤y≤170,-170≤y≤-30}. In each candidate mining area, The coordinates of a sampling point determined by the machine in the second coordinate system are A(70, 40, -120), B(195, 130, -50), and C(430, 100, -140). At this time, the coordinates of the sampling point in the second coordinate system need to be converted to the first coordinate system. That is, the x coordinate of the sampling point in the second coordinate system is increased by 30, the y coordinate is increased by 50, and the z coordinate is increased by 250. The converted sampling points are A'(100, 90, 130), B'(225, 180, 200), and C'(460, 150, 110). Points A', B', and C' are used as sampling points, and the coordinates corresponding to points A', B', and C' are used as the position coordinates of the sampling points.

[0064] In the embodiments of the present specification, a second coordinate system is established to directly determine the waiting area in the second coordinate system, so that the calculation of the coordinate range of the waiting area is simplified. The sampling points are determined in the waiting area under the second coordinate system, and the coordinates of the sampling points are converted from the second coordinate system to the first coordinate system, so that the sampling device can accurately reach the sampling points for sampling according to the coordinates of the sampling points.

[0065] Furthermore, controlling the sampling device to move to the sampling point to collect the object to be sampled includes: obtaining the starting coordinates of the sampling device in the first coordinate system; generating a movement route of the sampling device based on the starting coordinates and the position coordinates of the target sampling point in the first coordinate system, wherein the target sampling point is any sampling point; and controlling the sampling device to move along the movement route to the target sampling point to collect the object to be sampled.

[0066] Specifically, the starting coordinates of the sampling device in the first coordinate system are determined based on the current position of the sampling device. The current position of the sampling device can be a pre-set fixed position, i.e., the sampling device returns to this fixed position after each sampling operation, or the position where the sampling device remained after the previous sampling operation. The target sampling point can be a randomly selected one of all sampling points.

[0067] Based on this, according to the starting coordinates of the sampling device and the position coordinates of the sampling point in the first coordinate system, the moving route of the sampling device to the target sampling point is determined. The moving route includes the direction and distance of movement of the sampling device. The sampling device is controlled to move to the target sampling point according to the moving route and collect the object to be sampled.

[0068] Furthermore, if the first coordinate system is a two-dimensional coordinate system, after determining the sampling point's location coordinates, the sampling depth must be determined based on the height of the carriage. Therefore, after controlling the sampling device to reach above the target sampling point, the distance the sampling device should move toward the object to be sampled must be determined based on the sampling depth of the target sampling point and the distance between the sampling device and the top of the loading device.

[0069] Continuing with the above example, assuming that the current target sampling point is A'(100, 90) and the carriage height is 200, then the sampling depth of sampling point A should be greater than 0 and less than 200. According to the value range of the sampling depth, the sampling depth is randomly determined to be 80. Assuming that the starting coordinates of the sampling device in the first coordinate system are (300, 0), then one of the routes for the sampling device to move to the target sampling point A' can be: first move 200 in the negative direction of the x-axis, and then move 90 in the positive direction of the y-axis. At this time, the sampling device reaches directly above the sampling point. In order to facilitate the sampling device to obtain the distance between the sampling device and the top of the loading device, a distance measuring device can also be provided on the sampling device. The distance measuring device obtains the interval between the sampling device and the top of the loading device as 40. The sampling depth 80 is added to the interval distance 40, and the distance the sampling point moves downward is 120.

[0070] When the first coordinate system is a three-dimensional coordinate system, a moving route of the sampling device can be formed according to the position coordinates of the sampling points generated in the three-dimensional coordinate system and the starting coordinates of the sampling equipment, and the sampling equipment can be controlled to move toward the target sampling point according to the moving route.

[0071] Continuing with the above example, assuming that the current target sampling point is A'(100,90,130) and the starting coordinates of the sampling device are (300,0,290), based on the coordinates of the target sampling point and the starting coordinates of the sampling device, it can be determined that the sampling device can move toward the target sampling point by moving 200 degrees in the negative direction of the x-axis, then 90 degrees in the positive direction of the y-axis, and finally 160 degrees in the negative direction of the z-axis.

[0072] To reduce the deviation between the coordinate values ​​and the actual distance in space, a correction value can be applied based on the calculated movement distance. For example, if the correction value is 2.7 and the coordinate calculation shows that the sampling device moves 200 in the negative x direction, then after correction, the actual movement distance of the sampling device is 200 / 2.7 = 74.1. The correction value can be set based on the actual situation.

[0073] In the embodiments of this specification, by determining that the sampling device and the target sampling point are in the same coordinate system, the sampling device can more accurately reach the target sampling point for sampling.

[0074] Furthermore, when only one sampling point is set in a loading device, the sampling ends when the single point is completed.

[0075] When multiple sampling points are set up on a loading device, the location coordinates and waiting area of ​​the previous sampling point are recorded. If the waiting area corresponding to the currently selected sampling point is the same as the previous waiting area, a new sampling point is selected until it is different, and then the next sampling is performed. This cycle repeats until all the set sampling points are sampled. Alternatively, the location coordinates of the target sampling point after the current sampling is completed are recorded, and the next sampling is performed only from the remaining sampling points until all the set sampling points are sampled.

[0076] The embodiments of this specification perform sampling in different ways according to the number of sampling points set, so that all set sampling points can be sampled, avoiding missing sampling points and causing inaccurate sampling results.

[0077] In one embodiment of the present specification, a device sensing device is deployed in the sampling area; before determining the position information of the loading device in the sampling area, the method further includes:

[0078] When the loading device enters the sampling area, the first device information of the loading device is obtained through the device sensing device, wherein the device sensing device is used to sense the device identification card configured for the loading device to obtain the first device information; receive the second device information reported by the driver of the loading device; verify the first device information and the second device information, and if the verification passes, execute the operation steps of determining the location information of the loading device in the sampling area.

[0079] Specifically, an equipment identification card is provided on the loading equipment, which is used to store the equipment identification of the loading equipment, and the driver holds a personnel identification card. When the driver drives the loading equipment into the sampling area, the equipment sensing device set in the sampling area can detect and read the first equipment information stored in the equipment identification card. The equipment sensing device can also read the second equipment information in the personnel identification card. In addition, the second equipment information can also be uploaded by the driver through the client.

[0080] The received first device information and second device information are compared with the association relationship between the pre-stored first device information and the corresponding second device information. When the first device information and the second device information are consistent with the pre-stored content, the structural information of the loading device is obtained, and the position information of the sampling device in the sampling area is determined.

[0081] For example, if the loading equipment is a truck, the equipment identification card on the truck is an RFID card that stores encrypted information about the license plate number. The driver carries an IC card, which stores the IC card's status and cardholder information. The cloud-based MES stores the relationship between the IC card, the license plate number, vehicle details, coal pick-up order information, and the dispatch plan, making it easier for personnel to manage IC card and vehicle information. If anomalies occur, the IC card can be directly invalidated or frozen. After the truck enters the sampling area, the on-site sampling program reads the RFID and IC card information using a card reader and uploads them to the MES system. The MES system parses the RFID and IC card information, compares the license plate number with the corresponding driver information, and determines whether the vehicle and driver information match, as well as whether the vehicle status and hauling operations are normal. If the vehicle information matches, and the vehicle status and operating status are normal, the vehicle-related information stored in the MES is returned to the sampling program, allowing the sampling program to proceed to the next step. The coal pick-up order information includes information such as the supplier and destination plant, and the type of coal.

[0082] In the embodiments of this specification, the association between the driver's information and the vehicle's information is determined in advance before sampling to prevent illegal transportation and ensure that the transportation process is normal and safe.

[0083] Furthermore, if the first and second device information are verified, a sampling bucket is allocated to the loading device, and the sampling device places the sample pairs into the corresponding sampling bucket. Specifically, the number of sampling buckets allocated to each loading device can be matched to the number of sampling points, with samples collected at each sampling point placed in a separate sampling bucket. Alternatively, each vehicle can be allocated only one sampling bucket, with samples collected at all sampling points placed in the same sampling bucket.

[0084] The sampling bucket corresponding to each loading device pre-stores the corresponding sampling information, which can be stored in the MES system. The sampling information at least includes the status information of the sampling bucket, the sampling bucket identifier and the vehicle identifier corresponding to the sampling bucket, wherein the status information includes whether the sampling bucket is empty. After the sampling is completed, the sampling information of the sampling bucket is updated accordingly. When the status information of the sampling bucket is "not empty", the sampling bucket identifier and the packing command are sent to the sampling machine PLC system. The PLC system will pack out the sampling bucket corresponding to the transmitted sampling bucket identifier and fill it with a new sampling bucket, and send the information of the packed bucket to the cloud MES system to generate the sampling information of the new sampling bucket, and then open the gate to allow the next sampling vehicle to come in.

[0085] The embodiments of this specification match sampling buckets for vehicles, update sampling information after sampling, and pack the sampling buckets, so that the samples can be stored in an orderly manner to prevent the samples from not corresponding to the vehicles and causing confusion in the sampling test results.

[0086] In addition, in one embodiment of this specification, a variety of anti-cheating devices and automated equipment can be connected to ensure that the sampling process is free from interference from human factors as much as possible.

[0087] The following combined Figure 6 , taking the application of the sampling method provided in this specification in the sampling scenario of coal transportation vehicles as an example, the sampling method is further explained. Figure 6 This is a flowchart of a sampling method provided in another embodiment of this specification, which is applied to a sampling scenario of a coal transport vehicle, and specifically includes the following steps.

[0088] Step 602: When a coal transport vehicle enters the sampling area, the first device information of the coal transport vehicle is obtained through the device sensing device, wherein the device sensing device is used to sense the device identification card configured for the coal transport vehicle to obtain the first device information; the second device information reported by the driver of the coal transport vehicle is received; the first device information and the second device information are verified, and if the verification passes, step 604 is executed.

[0089] Step 604: establishing a first coordinate system based on the sampling area; and determining the boundary position of the coal transport vehicle in the first coordinate system according to the measurement result of the distance measuring device.

[0090] Step 606: The structural information includes the target structure position of the coal transport vehicle, and the target structure is a structure that restricts sampling; structural constraint conditions are obtained, wherein the structural constraint conditions are used to constrain the safety distance of the target structure; and the area in the loading area that meets the structural constraint conditions is determined as the waiting area, wherein the loading area is the area within the boundary position.

[0091] Step 608: Determine at least one sampling point in the waiting area based on the set rules, establish a second coordinate system based on the loading area formed by the boundary position, and determine the sampling coordinates of the sampling point in the second coordinate system; convert the sampling coordinates to the first coordinate system to obtain the position coordinates of the sampling point in the first coordinate system.

[0092] Step 610: Obtain the starting coordinates of the sampling device in the first coordinate system; generate a moving route for the sampling device based on the starting coordinates and the position coordinates of the target sampling point in the first coordinate system, wherein the target sampling point is any sampling point; control the sampling device to move along the moving route to the target sampling point to collect coal.

[0093] In the embodiments of this specification, by applying the above-mentioned sampling scheme in the sampling scenario of coal transport vehicles, the sampling process can be made more scientific and standardized, and the entire process from random sampling of vehicles to sample packaging is automated and intelligently controlled, which reduces the intensity of manual labor and improves work efficiency.

[0094] Corresponding to the above method embodiment, this specification also provides a sampling device embodiment, Figure 7 FIG1 shows a schematic diagram of the structure of a sampling device provided by an embodiment of this specification. Figure 7 As shown, the device includes:

[0095] The position information acquisition module 702 is configured to determine the position information of the loading device in the sampling area when the loading device enters the sampling area, wherein the loading device is used to load the object to be sampled and the sampling area is provided with a sampling device;

[0096] The mining waiting area determination module 704 is configured to obtain the structural information of the loading device and determine the mining waiting area of ​​the loading device according to the position information and the structural information;

[0097] The sampling control module 706 determines at least one sampling point in the waiting area and controls the sampling device to move to the sampling point to collect the object to be sampled.

[0098] Optionally, the sampling area is provided with a distance measuring device; the position information of the loading device in the sampling area is determined, and the position information acquisition module includes:

[0099] A first coordinate system establishing submodule is configured to establish a first coordinate system based on the sampling area;

[0100] The boundary position determination submodule is configured to determine the boundary position of the loading device in the first coordinate system according to the measurement result of the distance measuring device.

[0101] Optionally, the structural information includes a target structural position of the loading device, and the target structure is a structure for restricted sampling; and the module for determining a waiting sampling area of ​​the loading device based on the position information and the structural information includes:

[0102] A constraint condition acquisition submodule is configured to acquire a structural constraint condition, wherein the structural constraint condition is used to constrain a safety distance of the target structure;

[0103] The area determination submodule is configured to determine an area in the loading area that meets the structural constraint condition as the waiting area, wherein the loading area is the area within the boundary position.

[0104] Optionally, the determining of at least one sampling point in the candidate sampling area, the sampling control module includes:

[0105] The sampling point determination submodule is configured to determine at least one sampling point in the candidate area based on a set rule, and determine the position coordinates of the sampling point in the first coordinate system.

[0106] Optionally, the determining the position coordinates of the sampling point in the first coordinate system, the sampling point determination submodule includes:

[0107] a second coordinate system establishing submodule, configured to establish a second coordinate system based on the loading area formed by the boundary position, and determine the sampling coordinates of the sampling point in the second coordinate system;

[0108] The coordinate conversion submodule is configured to convert the sampling coordinates into the first coordinate system to obtain the position coordinates of the sampling points in the first coordinate system.

[0109] Optionally, the control of the sampling device to move to the sampling point to collect the object to be sampled includes:

[0110] a starting coordinate acquisition submodule, configured to acquire the starting coordinates of the sampling device in the first coordinate system;

[0111] a route determination submodule configured to generate a moving route of the sampling device according to the starting coordinates and the position coordinates of the target sampling point in the first coordinate system, wherein the target sampling point is any sampling point;

[0112] The sample collection submodule is configured to control the sampling device to move along the moving route to the target sampling point to collect the object to be sampled.

[0113] Optionally, a device sensing device is deployed in the sampling area; before determining the position information of the loading device in the sampling area, the sampling device further includes:

[0114] a first device information acquisition module configured to acquire first device information of the loading device through the device sensing device when the loading device enters the sampling area, wherein the device sensing device is used to sense a device identification card configured with the loading device to acquire the first device information;

[0115] A second device information receiving module is configured to receive second device information reported by a driver of the loading device;

[0116] The verification module verifies the first device information and the second device information, and if the verification passes, executes the operation step of determining the position information of the loading device in the sampling area.

[0117] The above is a schematic scheme of a sampling device of this embodiment. It should be noted that the technical solution of the sampling device and the technical solution of the above-mentioned sampling method are of the same concept. For details not described in detail in the technical solution of the sampling device, please refer to the description of the technical solution of the above-mentioned sampling method.

[0118] Figure 8 8 shows a block diagram of a computing device 800 according to one embodiment of the present disclosure. Components of the computing device 800 include, but are not limited to, a memory 810 and a processor 820. The processor 820 is connected to the memory 810 via a bus 830, and a database 850 is used to store data.

[0119] The computing device 800 also includes an access device 840 that enables the computing device 800 to communicate via one or more networks 860. Examples of such networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 840 may include one or more of any type of network interface (e.g., a network interface card (NIC)) whether wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, or a near field communication (NFC) interface.

[0120] In one embodiment of the present specification, the above components of the computing device 800 and Figure 8 Other components not shown in the figure may also be connected to each other, for example, via a bus. Figure 8 The computing device structure block diagram shown is for illustrative purposes only and is not intended to limit the scope of this specification. Those skilled in the art may add or replace other components as needed.

[0121] Computing device 800 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, personal digital assistant, laptop computer, notebook computer, netbook computer, etc.), a mobile phone (e.g., a smartphone), a wearable computing device (e.g., a smartwatch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or personal computer (PC). Computing device 800 may also be a mobile or stationary server.

[0122] The processor 820 is configured to execute the following computer-executable instructions, which implement the steps of the above-mentioned sampling method when executed by the processor.

[0123] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical solution of the computing device and the technical solution of the above-mentioned sampling method are of the same concept. For details not described in detail in the technical solution of the computing device, please refer to the description of the technical solution of the above-mentioned sampling method.

[0124] An embodiment of the present specification further provides a computer-readable storage medium storing computer-executable instructions, which implement the steps of the above-mentioned sampling method when executed by a processor.

[0125] The above is a schematic diagram of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of the storage medium and the technical solution of the sampling method described above are based on the same concept. For details not described in detail in the technical solution of the storage medium, please refer to the description of the technical solution of the sampling method described above.

[0126] An embodiment of the present specification further provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned sampling method.

[0127] The above is an illustrative solution of a computer program of this embodiment. It should be noted that the technical solution of the computer program and the technical solution of the sampling method described above are of the same concept. For details not described in detail in the technical solution of the computer program, please refer to the description of the technical solution of the sampling method described above.

[0128] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0129] The computer instructions include computer program code, which may be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

[0130] It should be noted that for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0131] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0132] The preferred embodiments disclosed above are intended only to help illustrate this specification. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made based on the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that those skilled in the art can better understand and utilize this specification. This specification is limited only by the claims and their full scope and equivalents.

Claims

1. A sampling method, characterized in that: include: When a loading device enters a sampling area, determining position information of the loading device in the sampling area, wherein the loading device is used to load objects to be sampled, and the sampling area is provided with a sampling device; Acquiring structural information of the loading device, and determining a sampling area of ​​the loading device based on the position information and the structural information, wherein the structural information includes a target structure position of the loading device in a first coordinate system, the target structure is a structure that limits sampling, and the target structure includes a beam and a rib of the loading device, and the first coordinate system is established based on the sampling area; Determining at least one sampling point in the waiting area, and controlling the sampling device to move to the sampling point to collect the object to be sampled, wherein the sampling point is generated in a second coordinate system, and the position coordinates of the sampling point are determined by converting the second coordinate system into the first coordinate system, and the second coordinate system is established based on the loading area formed by the boundary position of the loading device; Determining the mining waiting area of ​​the loading device based on the position information and the structure information includes: obtaining a structural constraint condition, wherein the structural constraint condition is used to constrain the safety distance of the target structure; determining an area in the loading area in the first coordinate system that meets the structural constraint condition as the mining waiting area, wherein the loading area is an area within the boundary position of the loading device; Controlling the sampling device to move to the sampling point to collect the object to be sampled includes: obtaining the starting coordinates of the sampling device in the first coordinate system; generating a movement route of the sampling device based on the starting coordinates and the position coordinates of the target sampling point in the first coordinate system, wherein the target sampling point is any sampling point, and the movement route includes the direction and distance of movement of the sampling device; and controlling the sampling device to move along the movement route to directly above the target sampling point to collect the object to be sampled.

2. The sampling method according to claim 1, characterized in that The sampling area is provided with a distance measuring device; and determining the position information of the loading device in the sampling area includes: Establishing a first coordinate system based on the sampling area; The boundary position of the loading device in the first coordinate system is determined according to the measurement result of the distance measuring device.

3. The sampling method according to claim 1, characterized in that Determining at least one sampling point in the waiting area includes: At least one sampling point is determined in the candidate area based on a set rule, and the position coordinates of the sampling point in the first coordinate system are determined.

4. The sampling method according to claim 3, characterized in that Determining the position coordinates of the sampling point in the first coordinate system includes: Establishing a second coordinate system based on the loading area formed by the boundary positions, and determining the sampling coordinates of the sampling point in the second coordinate system; The sampling coordinates are converted into the first coordinate system to obtain the position coordinates of the sampling point in the first coordinate system.

5. The sampling method according to claim 1, characterized in that The sampling area is equipped with a device sensing device; before determining the location information of the loading device in the sampling area, the method further includes: When the loading device enters the sampling area, first device information of the loading device is acquired through the device sensing device, wherein the device sensing device is used to sense a device identification card configured with the loading device to acquire the first device information; receiving second device information reported by a driver of the loading device; The first device information and the second device information are verified. If the verification passes, the operation step of determining the position information of the loading device in the sampling area is performed.

6. A sampling device, characterized in that: include: a position information acquisition module configured to determine position information of a loading device in a sampling area when the loading device enters the sampling area, wherein the loading device is used to load objects to be sampled and a sampling device is provided in the sampling area; a sampling area determination module configured to obtain structural information of the loading device and determine the sampling area of ​​the loading device based on the position information and the structural information, wherein the structural information includes the position of a target structure of the loading device in a first coordinate system, the target structure is a structure that limits sampling, and the target structure includes a beam and a rib of the loading device, and the first coordinate system is established based on the sampling area; a sampling control module, configured to determine at least one sampling point in the waiting area and control the sampling device to move to the sampling point to collect the object to be sampled, wherein the sampling point is generated in a second coordinate system, and the position coordinates of the sampling point are determined by converting the second coordinate system into the first coordinate system, wherein the second coordinate system is established based on the loading area formed by the boundary positions of the loading device; The mining area determination module is further configured to obtain a structural constraint condition, wherein the structural constraint condition is used to constrain the safety distance of the target structure; and determine an area in the loading area in the first coordinate system that satisfies the structural constraint condition as the mining area, wherein the loading area is an area within the boundary position of the loading device; a starting coordinate acquisition submodule, configured to acquire the starting coordinates of the sampling device in the first coordinate system; a route determination submodule configured to generate a movement route of the sampling device according to the starting coordinates and the position coordinates of the target sampling point in the first coordinate system, wherein the target sampling point is any sampling point, and the movement route includes a direction and distance of movement of the sampling device; The sample collection submodule is configured to control the sampling device to move along the moving route to the position just above the target sampling point to collect the object to be sampled.

7. A computing device, characterized in that include: memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the sampling method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium, characterized in that It stores computer-executable instructions, which, when executed by a processor, implement the steps of the sampling method according to any one of claims 1 to 5.

9. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the steps of the sampling method according to any one of claims 1 to 5.

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