Truck loading control method and device, electronic equipment and excavator

Abstract

The application provides a loading control method and device, electronic equipment and excavator. The real-time coordinate position and the corresponding real-time attitude angle of the mine truck body in the world coordinate system are determined more accurately based on the real-time pose data of the mine truck body, i.e. the latitude, longitude and elevation and the attitude angle of the mine truck body. On this basis, the real-time position coordinate and the real-time attitude angle are adjusted based on the real-time attitude angle of the mine truck body and the pose deviation between the mine truck body and the mine truck bucket when the mine truck body is at a preset attitude angle, i.e. the preset pose deviation parameter. The position coordinate and the attitude angle of the mine truck bucket, i.e. the target position coordinate and the target attitude angle, can be obtained more accurately. At this time, the pose information of the mine truck bucket is generated based on the size information of the mine truck bucket, the target position coordinate and the target attitude angle. The loading of the material on the mine truck bucket by the excavator is controlled based on the pose information, and a better loading effect can be achieved, and the situation that the material is loaded outside the mine truck bucket can be avoided.

Description

Technical Field

[0001] This application relates to the field of material loading and unloading technology, specifically to a loading control method, device, electronic equipment, and excavator. Background Technology

[0002] In the process of unmanned automated loading operations on construction machinery, accurate identification of the loading equipment's position is crucial to ensure smooth loading. Taking the automated loading of mining trucks by an unmanned excavator as an example, during the automated loading operation, the position of the mining truck in the excavator's coordinate system is first identified, and then the loading action is executed based on the identified position of the mining truck in the excavator's coordinate system.

[0003] However, simply identifying the location of the mining truck (i.e., locating the truck) cannot determine the position of the loading bed on the truck. Therefore, performing a loading operation based solely on the truck's location might result in material being loaded outside the loading bed, reducing loading accuracy. Summary of the Invention

[0004] Based on the aforementioned defects and shortcomings of the prior art, this application proposes a loading control method, device, electronic equipment, and excavator. This method can adjust the real-time position coordinates and attitude angles of the mining truck body based on real-time pose data of the mining truck body, size information of the mining truck bucket, and preset pose deviation parameters characterizing the pose deviation between the mining truck bucket and the mining truck body. It also generates relatively accurate pose information for the mining truck bucket and controls the loading action based on this pose information. This solves the problem that when loading is performed based on the position of the mining truck, materials may be loaded outside the bucket, resulting in low accuracy of material loading.

[0005] According to a first aspect of the embodiments of this application, a vehicle loading control method is provided, comprising:

[0006] Based on the real-time pose data of the mining truck body, the real-time position coordinates of the mining truck body in the world coordinate system are determined, as well as the real-time attitude angle of the mining truck body corresponding to the real-time position coordinates. The real-time pose data includes the latitude and longitude, elevation and attitude angle of the mining truck body.

[0007] Based on the real-time attitude angle and the preset pose deviation parameter, the real-time position coordinates and the real-time attitude angle are adjusted to obtain the target position coordinates and the target attitude angle. The preset pose deviation parameter represents the pose deviation between the mining truck body and the mining truck bucket when the mining truck body is at the preset attitude angle. The target position coordinates are the position coordinates of the mining truck bucket, and the target attitude angle is the attitude angle of the mining truck bucket.

[0008] Based on the size information of the mining truck bucket, the target position coordinates, and the target attitude angle, the pose information of the mining truck bucket is generated;

[0009] Based on the positional information of the mining truck bucket, the excavator is controlled to load materials into the mining truck bucket.

[0010] According to a second aspect of the embodiments of this application, a vehicle loading control device is provided, comprising:

[0011] The determination module is used to determine the real-time position coordinates of the mining truck body in the world coordinate system and the real-time attitude angle of the mining truck body corresponding to the real-time position coordinates based on the real-time pose data of the mining truck body. The real-time pose data includes the latitude and longitude, elevation and attitude angle of the mining truck body.

[0012] The adjustment module is used to adjust the real-time position coordinates and the real-time attitude angle based on the real-time attitude angle and the preset pose deviation parameter to obtain the target position coordinates and the target attitude angle. The preset pose deviation parameter represents the pose deviation between the mining truck body and the mining truck bucket when the mining truck body is at the preset attitude angle. The target position coordinates are the position coordinates of the mining truck bucket, and the target attitude angle is the attitude angle of the mining truck bucket.

[0013] The generation module is used to generate the pose information of the mining truck bucket based on the size information of the mining truck bucket, the target position coordinates and the target attitude angle;

[0014] The control module is used to control the excavator to load materials into the mining truck bucket based on the position and orientation information of the mining truck bucket.

[0015] According to a third aspect of the embodiments of this application, an electronic device is provided, including a memory and a processor;

[0016] The memory is connected to the processor and is used to store programs;

[0017] The processor is used to implement the loading control method as described in the first aspect by running the program in the memory.

[0018] According to a fourth aspect of the embodiments of this application, a storage medium is provided, on which a computer program is stored, and when the computer program is run by a processor, it implements the loading control method as described in the first aspect.

[0019] According to a fifth aspect of the embodiments of this application, an excavator is provided, wherein the excavator is provided with a loading control device as described in the second aspect or an electronic device as described in the third aspect.

[0020] In the aforementioned loading control method, device, electronic equipment, and excavator, the real-time coordinate position of the mining truck body in the world coordinate system and the corresponding real-time attitude angle can be determined relatively accurately based on the real-time pose data of the mining truck body, including latitude, longitude, elevation, and attitude angle. Then, based on this, combined with the pose deviation between the mining truck body and the mining truck bucket (i.e., the preset pose deviation parameter), the real-time position coordinates and real-time attitude angles are adjusted based on the real-time attitude angles of the mining truck body. This allows for the relatively accurate determination of the position coordinates and attitude angles of the mining truck bucket (i.e., the target position coordinates and target attitude angles). At this point, based on the size information of the mining truck bucket, the target position coordinates, and the target attitude angle, the pose information of the mining truck bucket is generated. Based on this pose information, the excavator is controlled to load materials into the mining truck bucket, achieving a better loading effect and avoiding the situation where materials are loaded outside the mining truck bucket, thus ensuring material loading efficiency. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0022] Figure 1 This is a flowchart illustrating a vehicle loading control method according to an embodiment of this application;

[0023] Figure 2 This is a schematic diagram illustrating the calculation process of the truck bed pose according to an embodiment of this application;

[0024] Figure 3 This is a schematic diagram illustrating the overall calculation process of the pose of a mining truck body according to an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the structure of a vehicle loading control device according to an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of the structure of an electronic device proposed in an embodiment of this application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] Overview

[0029] As described in the background section, in the process of automatically loading mining trucks using unmanned excavators, the position of the mining truck in the excavator's coordinate system is usually identified first, and then the loading action is performed based on the identified position of the mining truck in the excavator's coordinate system. However, simply identifying and locating the mining truck cannot determine the position of the bucket on the truck used to load the material. In this case, when performing the loading action based on the position of the mining truck, the material may be loaded outside the bucket, resulting in reduced material loading accuracy.

[0030] Building upon this foundation, the inventors further discovered that by using real-time pose data of the mining truck body, including latitude, longitude, elevation, and attitude angles, the real-time coordinates of the mining truck body in the world coordinate system and the corresponding real-time attitude angle can be determined relatively accurately. Then, based on the real-time attitude angles of the mining truck body and the pose deviation between the mining truck body and the mining truck bucket (i.e., a preset pose deviation parameter), adjusting the real-time position coordinates and attitude angles allows for a more accurate determination of the position coordinates and attitude angles of the mining truck bucket, i.e., the target position coordinates and target attitude angles. At this point, based on the size information of the mining truck bucket, the target position coordinates, and the target attitude angle, the pose information of the mining truck bucket is generated. Using this pose information, controlling the excavator to load materials into the mining truck bucket achieves better loading results, preventing materials from being loaded outside the mining truck bucket and ensuring efficient material loading.

[0031] Based on the above concept, this specification provides a vehicle loading control method, which will be described exemplarily below with reference to the accompanying drawings.

[0032] Exemplary methods

[0033] Please see Figure 1 In one exemplary embodiment, a loading control method is provided, applied to any electronic device, which can acquire real-time pose data of the mining truck body and control the excavator. For example... Figure 1 As shown, the loading control method includes steps S101-S104:

[0034] S101: Based on the real-time pose data of the mining truck body, determine the real-time position coordinates of the mining truck body in the world coordinate system, as well as the real-time attitude angle of the mining truck body corresponding to the real-time position coordinates.

[0035] The real-time pose data of the mining truck includes the latitude, longitude, elevation, and attitude angle of the mining truck.

[0036] Specifically, the real-time position coordinates refer to the position coordinates of a fixed point on the mining truck body, such as the center point of the mining truck body, in the world coordinate system.

[0037] Among them, the real-time pose data of the mining truck body is the real-time dynamic (real-time kinematic, rtk) pose data of the mining truck body.

[0038] Optionally, a world coordinate system is established, and the latitude, longitude, and elevation in the real-time pose data of the mining truck body are converted into position coordinates in the world coordinate system to obtain the real-time position coordinates of the mining truck body. Based on the attitude angle in the real-time pose data of the mining truck body, attitude information is added to the real-time position coordinates to obtain the real-time attitude angle of the mining truck body corresponding to the real-time position coordinates of the mining truck body.

[0039] Specifically, any point can be selected as the origin to establish a Northeast Celestial Coordinate System (i.e., a World Coordinate System).

[0040] Specifically, based on the latitude, longitude, and elevation of the origin of the world coordinate system, the latitude, longitude, and elevation of the mining truck body in the real-time pose data are converted into position coordinates in the world coordinate system.

[0041] Specifically, attitude information is added to the real-time position coordinates of the mining truck body, that is, the angles of the mining truck body on each coordinate axis of the world coordinate system mentioned above, or the angles with the positive directions of each coordinate axis, are determined to obtain the real-time attitude angles of the mining truck body corresponding to its real-time position coordinates.

[0042] The attitude angles include heading angle, pitch angle, and roll angle, which correspond to the angles of the mining truck body on the various coordinate axes of the world coordinate system.

[0043] S102: Based on the real-time attitude angle and preset pose deviation parameters, adjust the real-time position coordinates and real-time attitude angle to obtain the target position coordinates and target attitude angle.

[0044] Among them, the preset pose deviation parameter characterizes the pose deviation between the mining truck body and the mining truck bucket when the mining truck body is at a preset pose angle.

[0045] In addition, the target position coordinates are the position coordinates of the mining truck bucket, and the target attitude angle is the attitude angle of the mining truck bucket.

[0046] In other words, based on the real-time attitude angle of the mining truck body and the positional deviation between the mining truck body and the mining truck bucket when the mining truck body is at a preset attitude angle, the real-time position coordinates and real-time attitude angle of the mining truck body are adjusted to obtain the position coordinates and attitude angle of the mining truck bucket in the above-mentioned world coordinate system.

[0047] Generally, the position coordinates of a mining truck bucket refer to the position coordinates of a fixed point on the mining truck bucket, such as the center point of the mining truck bucket.

[0048] The real-time position coordinates of the aforementioned mining truck body correspond to the real-time attitude angle of the mining truck body. Similarly, the target position coordinates correspond to the target attitude angle. Moreover, the target position coordinates and target attitude angle are real-time position coordinates and attitude angles.

[0049] In the following, target position coordinates and target attitude angle refer to the real-time position coordinates and attitude angles of the mining truck bucket, while real-time position coordinates and real-time attitude angles refer to the real-time position coordinates and attitude angles of the mining truck body.

[0050] S103: Generate the pose information of the mining truck bucket based on the size information, target position coordinates and target attitude angle.

[0051] The pose information of the mining truck bucket refers to the pose information of the entire mining truck bucket, including the position coordinates of each point on the mining truck bucket in the aforementioned world coordinate system and the attitude angle of the mining truck bucket in the world coordinate system.

[0052] Alternatively, the pose information of the mining truck bucket includes the position coordinates of certain specific points on the mining truck bucket in the aforementioned world coordinate system, as well as the attitude angle of the mining truck bucket in that world coordinate system. Here, "specific points" can refer to the position coordinates of various points on the top of the bucket.

[0053] S104: Based on the positional information of the mining truck bucket, control the excavator to load materials into the mining truck bucket.

[0054] In this embodiment, based on the real-time pose data of the mining truck body, namely the latitude, longitude, elevation, and attitude angle of the mining truck body, the real-time coordinate position and corresponding real-time attitude angle of the mining truck body in the world coordinate system are determined relatively accurately. On this basis, based on the real-time attitude angle of the mining truck body and the pose deviation between the mining truck body and the mining truck bucket when the mining truck body is at a preset attitude angle, i.e., the preset pose deviation parameter, the real-time position coordinates and real-time attitude angle are adjusted to obtain a relatively accurate position coordinates and attitude angle of the mining truck bucket, i.e., the target position coordinates and target attitude angle. At this time, based on the size information of the mining truck bucket, the target position coordinates, and the target attitude angle, the pose information of the mining truck bucket is generated. Based on this pose information, the excavator is controlled to load materials into the mining truck bucket, which can achieve a better loading effect and avoid the situation of loading materials outside the mining truck bucket.

[0055] In some embodiments, before determining the real-time position coordinates of the mining truck body in the world coordinate system and the real-time attitude angle of the mining truck body corresponding to the real-time position coordinates based on the real-time pose data of the mining truck body, it is necessary to first obtain the real-time pose data of the mining truck body.

[0056] Optionally, the position and attitude of the mining truck can be monitored in real time through a combined navigation system to obtain real-time position and attitude data of the mining truck.

[0057] Among them, the integrated navigation system can be an RTK integrated navigation system.

[0058] Specifically, the integrated navigation system consists of sensors used to provide high-precision GPS positioning data and accurate attitude information.

[0059] Therefore, in this embodiment, the integrated navigation system can accurately monitor the position and attitude of the mining truck, obtaining accurate real-time position and attitude data. Because accurate real-time position and attitude data of the mining truck is obtained, even on uneven ground or when the truck is tilted, a simple calculation process can be used to obtain accurate real-time position coordinates and attitude angles that closely match the actual truck conditions without consuming operating resources.

[0060] Since object pose generally includes the object's position and orientation, in some embodiments, the preset pose deviation parameters include preset position deviation parameters and preset orientation angle deviation parameters.

[0061] The preset position deviation parameter represents the positional deviation between the mining truck body and the mining truck bucket when the truck body is at a preset attitude angle. The preset attitude angle deviation parameter represents the attitude angle deviation between the mining truck body and the mining truck bucket when the truck body is at a preset attitude angle.

[0062] In the world coordinate system, as the attitude angle of the mining truck body changes, the positional deviation between the mining truck body and the mining truck bucket may change, while the attitude angle deviation between the mining truck body and the mining truck bucket remains basically unchanged. Therefore, in the process of adjusting the real-time position coordinates and the real-time attitude angle based on the real-time attitude angle and the preset attitude deviation parameter to obtain the target position coordinates and the target attitude angle, the real-time position coordinates are adjusted based on the real-time attitude angle and the preset position deviation parameter to obtain the target position coordinates. At the same time, the real-time attitude angle is adjusted based on the preset attitude angle deviation parameter to obtain the target attitude angle.

[0063] Since the attitude angle of the mining truck body can change dynamically, the real-time attitude angle of the mining truck body may be the same as or different from the preset attitude angle. When the mining truck body is at other attitude angles other than the preset attitude angle, that is, when the real-time attitude angle of the mining truck body is different from the preset attitude angle, the positional deviation between the mining truck body and the mining truck bucket will change.

[0064] Therefore, when adjusting the real-time position coordinates based on the real-time attitude angle and the preset position deviation parameter to obtain the target position coordinates, the target position deviation parameter can be determined based on whether the real-time attitude angle is the preset attitude angle, and the real-time coordinate position can be adjusted based on the target position deviation parameter to obtain the target position coordinates.

[0065] Among them, the target position deviation parameter is the position deviation between the mining truck bucket and the mining truck body when the mining truck body is at the real-time attitude angle.

[0066] Specifically, if the real-time attitude angle is the same as the preset attitude angle, that is, the real-time attitude angle is the preset attitude angle, then the preset position deviation parameter is directly determined as the target position deviation parameter.

[0067] Accordingly, if the real-time attitude angle is different from the preset attitude angle, the real-time position deviation parameter is corrected based on the real-time attitude angle, and the corrected preset position deviation parameter is determined as the target position deviation parameter.

[0068] In this embodiment, changes in the attitude angle of the mining truck body may cause changes in the positional deviation between the mining truck body and the mining truck bucket on different coordinate axes in the same coordinate system. By adjusting the positional deviation parameter under the preset attitude angle based on the real-time attitude angle of the mining truck body, i.e., correcting the preset positional deviation parameter, a target positional deviation parameter can be obtained that can better adjust the position coordinates of the mining truck body to the position coordinates of the mining truck bucket. At this time, by adjusting the real-time position coordinates based on the target positional deviation parameter, an accurate target position coordinate can be obtained. This enables real-time correction of the preset positional deviation parameter based on the real-time attitude angle during mining truck operation, effectively improving the detection accuracy of the truck bucket under the condition of pose change during mining truck operation, improving the accuracy of truck bucket pose calculation, and achieving accurate positioning of the mining truck bucket.

[0069] Similarly, if the attitude angle deviation between the mining truck body and the mining truck bucket changes due to the dynamic change of the attitude angle of the mining truck body, in some embodiments, when the real-time attitude angle is adjusted based on the preset attitude angle deviation parameter to obtain the target attitude angle, the target attitude angle deviation parameter can also be determined based on whether the real-time attitude angle is the preset attitude angle, and the real-time attitude angle can be adjusted based on the target attitude angle deviation parameter to obtain the target attitude angle.

[0070] Among them, the target attitude angle deviation parameter is the attitude angle deviation between the mining truck bucket and the mining truck body when the mining truck body is at a real-time attitude angle.

[0071] Specifically, if the real-time attitude angle is the same as the preset attitude angle, that is, the real-time attitude angle is the preset attitude angle, then the preset attitude angle deviation parameter is directly determined as the target attitude angle deviation parameter.

[0072] Accordingly, if the real-time attitude angle is different from the preset attitude angle, the real-time attitude angle deviation parameter is corrected based on the real-time attitude angle, and the corrected preset attitude angle deviation parameter is determined as the target attitude angle deviation parameter.

[0073] In this embodiment, changes in the attitude angle of the mining truck body may cause changes in the angular deviation between the mining truck body and the mining truck bucket on different coordinate axes in the same coordinate system. By adjusting the position deviation parameter under the preset attitude angle based on the real-time attitude angle of the mining truck body, that is, by adjusting the preset attitude angle deviation parameter, a target attitude angle deviation parameter can be obtained that can better adjust the attitude angle of the mining truck body to the attitude angle of the mining truck bucket. At this time, by adjusting the real-time attitude angle based on the target attitude angle deviation parameter, an accurate target attitude angle can be obtained, and the accurate conversion of the attitude angle of the real-time mining truck bucket can be achieved.

[0074] In some embodiments, when the preset position deviation parameter is corrected based on the real-time attitude angle to obtain the target position deviation parameter, the world coordinate system is rotated so that the angle between each coordinate axis of the world coordinate system and the original coordinate axis is the real-time attitude angle. Then, the value of the preset position deviation parameter in the rotated world coordinate system is used to determine the target position deviation parameter.

[0075] Optionally, a preset point is first set in the world coordinate system using the preset position deviation parameter as coordinates. Then, the world coordinate system is rotated according to the real-time attitude angle. Finally, the coordinates of the preset point in the rotated world coordinate system are determined as the target position deviation parameter.

[0076] For example, the real-time attitude angles of the mining truck body include pitch angle α, yaw angle β, and roll angle β, where α, β, and β are the angles of the mining truck body on the x-axis, y-axis, and z-axis of the world coordinate system, respectively. The deviations of the preset deviation parameters on the x-axis, y-axis, and z-axis are x1, y1, and z1, respectively. That is, a preset point is established based on the preset position deviation parameters, and the coordinates of the preset point are (x1, y1, z1). At this time, the world coordinate system is rotated so that the angle between the x-axis of the rotated world coordinate system and the original x-axis is α, the angle between the y-axis of the rotated world coordinate system and the original y-axis is β, and the angle between the z-axis of the rotated world coordinate system and the original z-axis is β. At this time, the coordinates of the preset point are (x2, y2, z2), and the deviations of the target position deviation parameters on the x-axis, y-axis, and z-axis are determined to be x2, y2, and z2, respectively.

[0077] In this embodiment, a preset point is set in the world coordinate system using the preset position deviation parameter as the coordinate. The position coordinates of the preset point after the world coordinate system is rotated according to the real-time attitude angle are determined as the target position deviation parameter. This allows for a simple and intuitive correction of the preset position deviation parameter, resulting in an accurate position deviation between the mining truck body and the mining truck bucket when the truck body is at the real-time attitude angle, i.e., the target deviation parameter.

[0078] In some embodiments, based on the real-time attitude angle and the preset pose deviation parameter, the real-time position coordinates and the real-time attitude angle are adjusted to obtain the target position coordinates and the target attitude angle, and the preset pose deviation parameter is calibrated.

[0079] Optionally, first obtain the first pose data and the second pose data, and then calibrate the preset position deviation parameter and the preset attitude angle deviation parameter based on the first pose data and the second pose data.

[0080] There is a correspondence between the first pose data and the second pose data. The first pose data is the pose data of the mining truck body when it is at a preset pose angle, and the second pose data is the pose data of the mining truck bucket when it is at a preset pose angle.

[0081] For mining trucks, due to the need for loading and unloading materials in the truck bed, sensor devices cannot be directly installed. Therefore, a fixed pose deviation exists between the truck body and the truck bed. This pose deviation needs to be addressed even when the truck is not in operation. Specifically, when the truck is not in operation, a sensor device is installed at the center point of the truck bed to acquire second pose data. Simultaneously, a combined navigation system acquires first pose data.

[0082] The first pose data and the second pose data can correspond to each other based on time and mining card. The first pose data and the second pose data obtained for the same mining card at the same time can correspond to each other.

[0083] Specifically, when calibrating the preset position deviation parameter and the preset attitude angle deviation parameter based on the first pose data and the second pose data, the first pose and the second pose are determined based on the first pose data and the second pose data, and then the preset pose deviation parameter is determined based on the deviation between the first pose and the second pose.

[0084] The first pose includes the first position coordinates and the first attitude angle. The first position coordinates are the position coordinates of the mining truck body in the world coordinate system, and the first attitude angle is the angle between the mining truck body and each coordinate axis in the world coordinate system.

[0085] Generally, since the first attitude data is the mining truck body at a preset attitude angle, the aforementioned first attitude angle is the preset attitude angle.

[0086] In addition, the second pose includes the second position coordinates and the second attitude angle. The second position coordinates are the position coordinates of the mining truck bucket in the world coordinate system, and the second attitude angle is the angle between the mining truck bucket and each coordinate axis in the world coordinate system.

[0087] More specifically, when determining the preset pose deviation parameters based on the deviation between the first pose and the second pose, the difference between the first pose and the second pose is calculated, and the deviation between the first pose and the second pose on each coordinate axis of the world coordinate system is obtained.

[0088] Specifically, the difference between the first position coordinates and the second position coordinates is calculated, and the deviation between the first position coordinates and the second position coordinates on each coordinate axis of the world coordinate system is calculated to obtain the preset position deviation parameters.

[0089] In addition, the difference between the first attitude angle and the second attitude angle is calculated, and the deviation of each angle in the first attitude angle and the second attitude angle is calculated. That is, the deviation of the first attitude angle and the second attitude angle on each coordinate axis of the world coordinate system is calculated, that is, the deviation of pitch angle, yaw angle and roll angle in the first attitude angle and the second attitude angle are calculated, and the preset attitude angle deviation parameters are obtained.

[0090] In this embodiment, based on the actual obtained position and pose data of the mining truck body and the mining truck bucket when the mining truck body is at a preset attitude angle, preset position and pose deviation parameters are calibrated, namely preset position deviation parameters and preset attitude angle deviation parameters. This enables accurate calibration of the preset position and pose deviation parameters, thereby ensuring that in actual operation, the accurate position coordinates and attitude angles of the mining truck bucket can be obtained by combining the real-time position coordinates and real-time attitude angles of the mining truck body, thus achieving precise positioning of the mining truck.

[0091] Since the pose data itself may contain a small amount of error, the calibrated deviation parameters may be different based on the first and second pose data obtained for the same mining card at different times. In order to ensure the accurate calibration of the preset pose deviation parameters and avoid interference from error data, in some embodiments, when calibrating the preset position deviation parameters and preset attitude angle deviation parameters based on the first pose data and the second pose data, the preset position deviation parameters and preset attitude angle deviation parameters are calibrated based on multiple sets of first and second pose data.

[0092] Optionally, based on multiple sets of first pose data and second pose data, multiple sets of position deviation parameters and multiple sets of attitude angle deviation parameters are calculated. The multiple sets of position deviation parameters and multiple sets of attitude angle deviation parameters are then subjected to consistency processing to obtain preset position deviation parameters and preset attitude angle deviation parameters.

[0093] Among them, a set of first pose data and second pose data refers to the pose data of the mining truck body and the pose data of the mining truck bucket when the mining truck body is at a preset pose angle at a certain moment.

[0094] Multiple sets of position deviation parameters are standardized to obtain preset position deviation parameters. At the same time, multiple sets of attitude angle deviation parameters are standardized to obtain preset attitude angle deviation parameters.

[0095] Specifically, multiple sets of position deviation parameters and multiple sets of attitude angle deviation parameters can be made consistent by finding the least squares solution. The least squares solution of the multiple sets of position deviation parameters is used as the preset position deviation parameter, and the least squares solution of the multiple sets of attitude angle deviation parameters is used as the preset attitude angle deviation parameter.

[0096] In this embodiment, multiple sets of position deviation parameters and multiple sets of attitude angle deviation parameters calculated from multiple sets of first and second pose data are subjected to consistency processing to obtain preset position deviation parameters and preset attitude angle deviation parameters. This can avoid the influence of the error of the first and second pose data on the calibration of deviation parameters and ensure the accuracy of the calibration of preset pose deviation parameters.

[0097] In some embodiments, when generating the pose information of a mining truck bucket based on its size information, target position coordinates, and target attitude angle, the position coordinates of each point on the mining truck bucket in the world coordinate system are first determined based on the size information of the mining truck bucket (i.e., the physical size of the mining truck bucket) and the target position coordinates. Then, the pose information of the mining truck bucket is generated by combining the position coordinates of each point on the mining truck bucket in the world coordinate system with the target attitude angle.

[0098] The pose information of the mining truck bucket includes its position in the world coordinate system and its attitude angle.

[0099] To facilitate material loading and unloading by the excavator based on the orientation information of the mining truck bucket, the orientation information of the mining truck bucket can be generated based on its orientation in the excavator coordinate system. Specifically, after obtaining the position coordinates of each point in the world coordinate system, these position coordinates are converted into position coordinates in the excavator coordinate system, and the target attitude angle is converted into the attitude angle of the mining truck bucket in the excavator coordinate system. Based on the attitude angle of the mining truck bucket in the excavator coordinate system and the position coordinates of each point in the mining truck bucket in the excavator coordinate system, the orientation information of the mining truck bucket is generated.

[0100] At this time, the pose information of the mining truck bucket includes the attitude angle of the mining truck bucket in the excavator coordinate system and the position coordinates of each point of the mining truck bucket in the excavator coordinate system.

[0101] In this embodiment, the position coordinates of each point on the mining truck bucket are determined based on the target position coordinates and the size information of the mining truck bucket, thereby generating the pose information of the mining truck bucket. This enables precise positioning of the mining truck bucket, allowing the excavator to accurately load and unload materials, preventing the excavator from loading materials outside the bucket and improving the material loading rate. Furthermore, the position coordinates and target attitude angles of each point on the mining truck bucket in the world coordinate system are converted into the position coordinates and attitude angles of the mining truck bucket in the excavator's coordinate system, facilitating direct control of loading equipment such as the excavator to perform material loading and unloading operations on the mining truck bucket.

[0102] For example, after the truck bed calculation parameters (i.e., the aforementioned preset pose deviation parameters) are calibrated, the truck bed pose can be calculated (or determined) in real time based on the real-time latitude, longitude, and attitude angle data of the mining truck body (i.e., the real-time pose data of the mining truck body). The main process is as follows: Figure 2 As shown.

[0103] First, based on the attitude angle of the mining truck body (i.e., the target attitude angle mentioned above) and the calibrated truck bed calculation parameters (the preset pose deviation parameters in the parameters), calculate the real-time pose deviation of the mining truck bed and the mining truck body in the XYZ directions of the world coordinate system (i.e., calculate the target position deviation parameters and the target attitude angle deviation parameters). Specifically, when calculating the real-time position deviation of the mining truck bed and the mining truck body in the XYZ directions of the world coordinate system, a point is set using the truck bed calculation parameters as coordinates. This point is then rotated in space to the attitude corresponding to the target attitude angle, or the world coordinate system containing this point is rotated to the attitude corresponding to the target attitude angle. The XYZ deviation of this point before and after the rotation in this world coordinate system is then calculated.

[0104] Subsequently, based on the real-time position coordinates of the mining truck body superimposed with the target position deviation parameters, the center point pose of the mining truck bucket (i.e., the target position coordinates and target attitude angles mentioned above) is obtained. Combined with the physical dimensions of the bucket (i.e., the size parameters of the mining truck bucket mentioned above), the solution result of the bucket pose is generated (i.e., the position coordinates of each point on the mining truck bucket in the world coordinate system, and the target attitude angle).

[0105] Then, the solution results can be converted to the excavator coordinate system (that is, the position coordinates of each point in the mining truck bucket in the world coordinate system are converted to the position coordinates in the excavator coordinate system, and the target attitude angle is converted to the attitude angle of the mining truck bucket in the excavator coordinate system) and output. Figure 2 (Not shown in the image).

[0106] For example, the calibration of the truck bed calculation parameters (i.e., the aforementioned preset pose deviation parameters) mainly involves the following steps:

[0107] 1) For mining trucks, since the truck bed needs to load and unload materials, sensor equipment cannot be directly installed. The latitude and longitude measurement position obtained by the sensor equipment on the truck body, i.e., the aforementioned integrated navigation system, is the center position of the truck body, which has a fixed deviation from the center position of the truck bed in the XYZ directions. At this time, the transformation parameters of the deviation (i.e., the aforementioned preset pose deviation parameters) can be obtained through calibration methods.

[0108] 2) During parameter calibration, multiple sets of RTK pose data of the mine truck body (i.e., the first pose data mentioned above) and RTK pose data of the center point of the mine truck bucket (i.e., the second pose data mentioned above) can be collected. The RTK pose data of the center point of the mine truck bucket can be obtained by temporarily setting up a latitude and longitude data acquisition device at the center point of the mine truck bucket, so that the RTK pose data obtained by this data acquisition device can better reflect the attitude of the mine truck bucket. Based on the difference between the RTK data of the center point of the mine truck body and the mine truck bucket, the deviation of each set of data in the XYZ directions of the world coordinate system in terms of position and angle is calculated.

[0109] 3) Since the RTK pose data itself has a small amount of error, the deviation results obtained from multiple sets of data may be inconsistent. The least squares solution of the deviation results can be used as the calibration result of the final truck bed solution parameters.

[0110] For example, the overall calculation process for the pose of the mining truck bucket can be as follows: Figure 3 As shown, taking the collaborative operation of an excavator and a mining truck as an example, a world coordinate system is first defined. Based on the RTK pose data of the mining truck body, latitude, longitude, and attitude angles are calculated to obtain the pose of the mining truck body (i.e., the real-time position coordinates and real-time attitude angles of the mining truck body mentioned above). Based on the RTK pose data of the excavator, latitude, longitude, and attitude angles are calculated to obtain the pose of the excavator. By comparing the actual pose data of the mining truck body (i.e., the first pose data mentioned above) with the pose data of the mining truck bucket (i.e., the second pose data mentioned above), the transformation parameters between the mining truck bucket and the mining truck body (i.e., the preset pose deviation parameters mentioned above) are calibrated. Using the calibrated transformation parameters, the pose of the mining truck body is converted into the pose of the mining truck bucket in real time. Combined with the pose of the excavator, the pose of the mining truck bucket in the world coordinate system is transformed into the pose of the mining truck bucket in the excavator coordinate system.

[0111] Exemplary device

[0112] like Figure 4 As shown in the figure, this application embodiment also provides a vehicle loading control device, including a determining module 401, an adjusting module 402, a generating module 403, and a control module 404.

[0113] The determining module 401 is used to determine the real-time position coordinates of the mining truck body in the world coordinate system and the real-time attitude angle of the mining truck body corresponding to the real-time position coordinates based on the real-time pose data of the mining truck body. The real-time pose data includes the latitude and longitude, elevation and attitude angle of the mining truck body.

[0114] The adjustment module 402 is used to adjust the real-time position coordinates and the real-time attitude angle based on the real-time attitude angle and the preset pose deviation parameter to obtain the target position coordinates and the target attitude angle. The preset pose deviation parameter represents the pose deviation between the mining truck body and the mining truck bucket when the mining truck body is at the preset attitude angle. The target position coordinates are the position coordinates of the mining truck bucket, and the target attitude angle is the attitude angle of the mining truck bucket.

[0115] The generation module 403 is used to generate the pose information of the mining truck bucket based on the size information of the mining truck bucket, the target position coordinates and the target attitude angle;

[0116] The control module 404 is used to control the excavator to load materials into the mining truck bucket based on the position information of the mining truck bucket.

[0117] The loading control device provided in this embodiment belongs to the same concept as the loading control method provided in the above embodiments of this application. It can execute the method provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in this embodiment can be found in the specific processing content of the loading control method provided in the above embodiments of this application, and will not be repeated here.

[0118] The functions implemented by the determination module 401, adjustment module 402, generation module 403 and control module 404 can be implemented by the same or different processors calling software, and this application embodiment does not limit this.

[0119] Exemplary electronic devices

[0120] Another embodiment of this application also provides an electronic device, see [link to relevant documentation] Figure 5 As shown, the electronic device includes a memory 500 and a processor 510.

[0121] The memory 500 is connected to the processor 510 and is used to store programs;

[0122] The processor 510 is used to implement the loading control method disclosed in any of the above embodiments by running the program stored in the memory 500.

[0123] Specifically, the electronic device may also include: a bus, a communication interface 520, an input device 530, and an output device 540.

[0124] The processor 510, memory 500, communication interface 520, input device 530, and output device 540 are interconnected via a bus. Among them:

[0125] A bus can include a pathway for transmitting information between various components of a computer system.

[0126] The processor 510 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present application. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0127] The processor 510 may include a main processor, as well as a baseband chip, modem, etc.

[0128] The memory 500 stores a program for executing the technical solution of this application, and may also store an operating system and other critical business functions. Specifically, the program may include program code, which includes computer operation instructions. More specifically, the memory 500 may include read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), other types of dynamic storage devices capable of storing information and instructions, disk storage, flash memory, etc.

[0129] Input device 530 may include a device for receiving data and information input by a user, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor.

[0130] Output device 540 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0131] The communication interface 520 may include a device that uses any transceiver to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0132] The processor 510 executes the program stored in the memory 500 and calls other devices, which can be used to implement any of the steps of the loading control method provided in the above embodiments of this application.

[0133] Those skilled in the art will understand that Figure 5 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 electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0134] This application also proposes a chip, which includes a processor and a data interface. The processor reads and runs a program stored in a memory through the data interface to execute the vehicle loading control method described in any of the above embodiments. For details of the processing and its beneficial effects, please refer to the embodiments of the above vehicle loading control method.

[0135] This application also provides an excavator equipped with the above-mentioned loading control device or electronic device, which is used to execute the steps in the above-mentioned loading control method.

[0136] In addition to the methods and devices described above, embodiments of this application provide a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps of the loading control methods according to various embodiments of this application as described in the "Exemplary Methods" section of this specification.

[0137] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0138] Furthermore, embodiments of this application also propose a storage medium storing a computer program thereon, the computer program being executed by a processor of the steps in the loading control method according to various embodiments of this application as described in the "Exemplary Methods" section above.

[0139] The basic principles of the present invention have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in the present invention are merely examples and not limitations, and should not be considered as essential features of each embodiment of the present invention. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the present invention to the necessity of employing the aforementioned specific details.

[0140] The block diagrams of devices, apparatuses, devices, and systems involved in this invention are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0141] It should also be noted that in the apparatus, device, and method of the present invention, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of the present invention.

[0142] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the invention. Therefore, the invention is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0143] It should be understood that the qualifying terms "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present invention are only used to more clearly illustrate the technical solutions and are not intended to limit the scope of protection of the present invention.

[0144] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the invention to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A loading control method, characterized in that, The method includes: Based on the real-time pose data of the mining truck body, the real-time position coordinates of the mining truck body in the world coordinate system are determined, as well as the real-time attitude angle of the mining truck body corresponding to the real-time position coordinates. The real-time pose data includes the latitude and longitude, elevation and attitude angle of the mining truck body. Based on the real-time attitude angle and the preset pose deviation parameter, the real-time position coordinates and the real-time attitude angle are adjusted to obtain the target position coordinates and the target attitude angle. The preset pose deviation parameter represents the pose deviation between the mining truck body and the mining truck bucket when the mining truck body is at the preset attitude angle. The target position coordinates are the position coordinates of the mining truck bucket, and the target attitude angle is the attitude angle of the mining truck bucket. Based on the size information of the mining truck bucket, the target position coordinates, and the target attitude angle, the pose information of the mining truck bucket is generated; Based on the positional information of the mining truck bucket, the excavator is controlled to load materials into the mining truck bucket; The preset pose deviation parameter includes a preset position deviation parameter and a preset attitude angle deviation parameter. The preset position deviation parameter represents the position deviation between the mining truck body and the mining truck bucket when the mining truck body is at the preset attitude angle. The preset attitude angle deviation parameter represents the attitude angle deviation between the mining truck bucket and the mining truck body when the mining truck body is at the preset attitude angle.

2. The loading control method according to claim 1, characterized in that, Before determining the real-time position coordinates of the mining truck body in the world coordinate system and the real-time attitude angle of the mining truck body corresponding to the real-time position coordinates based on the real-time pose data of the mining truck body, the method further includes: The real-time position and attitude of the mining truck are monitored in real time by the integrated navigation system, and the real-time position and attitude data of the mining truck are obtained.

3. The loading control method according to claim 1, characterized in that, The step of adjusting the real-time position coordinates and the real-time attitude angle based on the real-time attitude angle and the preset pose deviation parameters to obtain the target position coordinates and the target attitude angle includes: Based on the real-time attitude angle, the preset position deviation parameter is corrected to obtain the target position deviation parameter, which represents the position deviation between the mining truck bucket and the mining truck body when the mining truck body is at the real-time attitude angle. Based on the target position deviation parameter, the real-time position coordinates are transformed to obtain the target position coordinates; Based on the preset attitude angle deviation parameter, the real-time attitude angle is adjusted to obtain the target attitude angle.

4. The loading control method according to claim 3, characterized in that, The step of correcting the preset position deviation parameter based on the real-time attitude angle to obtain the target position deviation parameter includes: Using the preset position deviation parameter as coordinates, a preset point is set in the world coordinate system; Rotate the world coordinate system according to the real-time attitude angle; The coordinates of the preset point in the rotated world coordinate system are determined as the target position deviation parameter.

5. The loading control method according to claim 3, characterized in that, Before adjusting the real-time position coordinates and the real-time attitude angle based on the real-time attitude angle and the preset pose deviation parameter to obtain the target position coordinates and the target attitude angle, the method further includes: Acquire first pose data and second pose data. There is a corresponding relationship between the first pose data and the second pose data. The first pose data is the pose data of the mining truck body when the mining truck body is at the preset pose angle. The second pose data is the pose data of the mining truck bucket when the mining truck body is at the preset pose angle. Based on the first pose data and the second pose data, the preset position deviation parameter and the preset attitude angle deviation parameter are calibrated.

6. The loading control method according to claim 5, characterized in that, The step of calibrating the preset position deviation parameter and the preset attitude angle deviation parameter based on the first pose data and the second pose data includes: Based on multiple sets of the first pose data and the second pose data, multiple sets of position deviation parameters and multiple sets of attitude angle deviation parameters are calculated; The multiple sets of position deviation parameters and the multiple sets of attitude angle deviation parameters are respectively subjected to consistency processing to obtain the preset position deviation parameters and the preset attitude angle deviation parameters.

7. The loading control method according to any one of claims 1-6, characterized in that, The process of generating the pose information of the mining truck bucket based on its size information, target position coordinates, and target attitude angle includes: Based on the size information of the mining truck bucket and the target position coordinates, determine the position coordinates of each point on the mining truck bucket in the world coordinate system; Convert the position coordinates of each point in the mining truck bucket in the world coordinate system to position coordinates in the excavator coordinate system; Convert the target attitude angle into the attitude angle of the mining truck bucket in the excavator coordinate system; Based on the attitude angle of the mining truck bucket in the excavator coordinate system and the position coordinates of each point of the mining truck bucket in the excavator coordinate system, the pose information of the mining truck bucket is generated.

8. A loading control device, characterized in that, The device includes: The determination module is used to determine the real-time position coordinates of the mining truck body in the world coordinate system and the real-time attitude angle of the mining truck body corresponding to the real-time position coordinates based on the real-time pose data of the mining truck body. The real-time pose data includes the latitude and longitude, elevation and attitude angle of the mining truck body. The adjustment module is used to adjust the real-time position coordinates and the real-time attitude angle based on the real-time attitude angle and the preset pose deviation parameter to obtain the target position coordinates and the target attitude angle. The preset pose deviation parameter represents the pose deviation between the mining truck body and the mining truck bucket when the mining truck body is at the preset attitude angle. The target position coordinates are the position coordinates of the mining truck bucket, and the target attitude angle is the attitude angle of the mining truck bucket. The generation module is used to generate the pose information of the mining truck bucket based on the size information of the mining truck bucket, the target position coordinates and the target attitude angle; The control module is used to control the excavator to load materials into the mining truck bucket based on the position and orientation information of the mining truck bucket. The preset pose deviation parameter includes a preset position deviation parameter and a preset attitude angle deviation parameter. The preset position deviation parameter represents the position deviation between the mining truck body and the mining truck bucket when the mining truck body is at the preset attitude angle. The preset attitude angle deviation parameter represents the attitude angle deviation between the mining truck bucket and the mining truck body when the mining truck body is at the preset attitude angle.

9. An electronic device, characterized in that, Including memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the loading control method as described in any one of claims 1 to 7 by running the program in the memory.

10. An excavator, characterized in that, The excavator is equipped with the loading control device as described in claim 8, or the electronic device as described in claim 9.

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