A method, device, equipment and medium for determining a loading angle of an engineering machine

Abstract

The embodiment of the application discloses a kind of engineering machinery's shovel loading angle determination method, device, equipment and medium, the method comprises: according to the corresponding shovel loading point of shovel loading pile, determine three-dimensional shovel loading area;In all pile points, obtain the target pile point corresponding to three-dimensional shovel loading area, and determine pile center point according to each target pile point;According to the position relationship between pile center point and shovel loading point, determine target shovel loading angle, and calculate the actual full bucket rate of engineering machinery under target shovel loading angle;When actual full bucket rate is greater than full bucket rate threshold, control engineering machinery to execute shovel loading operation according to target shovel loading angle at shovel loading point;When actual full bucket rate is less than or equal to full bucket rate threshold, after shape adjustment is carried out to three-dimensional shovel loading area, return to execute the operation of obtaining the target pile point corresponding to three-dimensional shovel loading area in all pile points, until to meet end condition, can realize accurately determining the shovel loading angle of engineering machinery, improve the shovel loading efficiency of engineering machinery.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic loading, and in particular to a method and device for determining a loading angle of an engineering machine, an engineering machine, and a medium. BACKGROUND

[0002] Engineering machines are an important part of the equipment industry and are mainly used for short-distance transfer of materials. With the diversification of the shapes of material piles, the ability to accurately determine the loading angle becomes an important factor affecting the loading efficiency of the material pile.

[0003] In the prior art, a plurality of loading angles are defined in advance for a material pile to be loaded, and one of the plurality of loading angles is selected as a target loading angle.

[0004] However, the prior art is difficult to apply to high-dynamic changes in the material pile to be loaded, and can only select a relatively good loading angle for a material pile shape constrained by multiple walls, resulting in an inability to accurately determine the target loading angle and thus affecting the loading efficiency. SUMMARY

[0005] The present application provides a method and device for determining a loading angle of an engineering machine, an engineering machine, and a medium, which can accurately determine the loading angle of the engineering machine and improve the loading efficiency of the engineering machine.

[0006] In a first aspect, the present application provides a method for determining a loading angle of an engineering machine, the method comprising:

[0007] obtaining a loading point corresponding to a material pile to be loaded, and determining a three-dimensional loading area according to the loading point;

[0008] obtaining at least one target material pile point corresponding to the three-dimensional loading area from all material pile points, and determining a material pile center point according to each target material pile point;

[0009] determining a target loading angle according to the positional relationship between the material pile center point and the loading point, and calculating an actual full bucket rate of the engineering machine at the target loading angle;

[0010] when the actual full bucket rate is greater than a full bucket rate threshold, controlling the engineering machine to perform a loading operation at the loading point according to the target loading angle;

[0011] when the actual full bucket rate is less than or equal to the full bucket rate threshold, performing shape adjustment on the three-dimensional loading area, and returning to the operation of obtaining at least one target material pile point corresponding to the three-dimensional loading area from all material pile points until a termination condition is met.

[0012] Optionally, the stereoscopic loading area is determined according to the loading point, including: obtaining a set stereoscopic shape and a shape size corresponding to the stereoscopic shape; and determining the stereoscopic loading area according to the stereoscopic shape and the shape size, with the loading point as a center point of the stereoscopic shape.

[0013] Optionally, at least one target stockpile point corresponding to the stereoscopic loading area is obtained from all stockpile points, including: determining a distance threshold upper limit according to the shape size corresponding to the stereoscopic shape and a set shape size multiple; determining a threshold distance line according to the distance threshold upper limit and a distance between the loading point and the ground; and respectively calculating distance values between each stockpile point and the ground, and determining a stockpile point with a distance value exceeding the threshold distance line as a target stockpile point.

[0014] Optionally, a stockpile center point is determined according to each target stockpile point, including: determining a candidate center point from each target stockpile point according to an average distance between each target stockpile point and the ground; obtaining a horizontal coordinate, a vertical coordinate and a vertical coordinate corresponding to each candidate center point, respectively; and determining a stockpile center point according to an average value of each horizontal coordinate, vertical coordinate and vertical coordinate.

[0015] Optionally, a target loading angle is determined according to a positional relationship between the stockpile center point and the loading point, including: obtaining a target vector from the loading point to the stockpile center point, and determining a vector direction of the target vector as the target loading angle.

[0016] Optionally, an actual bucket full rate of the engineering machinery at the target loading angle is calculated, including: determining a loading trajectory of the engineering machinery according to the loading point and the target loading angle; determining an actual loading amount of the engineering machinery according to the loading trajectory and each target stockpile point corresponding to the stereoscopic loading area; and determining the actual bucket full rate of the engineering machinery at the target loading angle according to the actual loading amount and a preset full bucket capacity.

[0017] Optionally, the shape of the stereoscopic loading area is adjusted, including: adjusting the shape of the stereoscopic loading area in an adjustment direction for increasing the stereoscopic loading area.

[0018] In a second aspect, an embodiment of the present application further provides a loading angle determination device of an engineering machinery, which comprises:

[0019] a loading area determination module, configured to obtain a loading point corresponding to a stockpile to be loaded, and determine a stereoscopic loading area according to the loading point;

[0020] a stockpile center point determination module, configured to obtain at least one target stockpile point corresponding to the stereoscopic loading area from all stockpile points, and determine a stockpile center point according to each target stockpile point;

[0021] The actual full bucket rate determination module is configured to determine the target loading angle according to the positional relationship between the center point of the material pile and the loading point, and calculate the actual full bucket rate of the engineering machinery at the target loading angle.

[0022] The target loading angle determination module is configured to control the engineering machinery to perform the loading operation at the loading point according to the target loading angle when the actual full bucket rate is greater than the full bucket rate threshold.

[0023] The loading angle adjustment module is configured to return to perform the operation of obtaining at least one target material pile point corresponding to the three-dimensional loading area from all material pile points after the shape of the three-dimensional loading area is adjusted when the actual full bucket rate is less than or equal to the full bucket rate threshold, until the end condition is met.

[0024] In a third aspect, an electronic device is provided, and the electronic device includes:

[0025] at least one processor; and

[0026] a memory communicatively connected to the at least one processor; wherein

[0027] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the loading angle determination method of the engineering machinery provided by any of the embodiments of the present application.

[0028] In a fourth aspect, a computer readable storage medium is provided, and the computer readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the loading angle determination method of the engineering machinery provided by any of the embodiments of the present application when executed.

[0029] The technical scheme of the embodiments of the present application determines the three-dimensional loading area corresponding to the to-be-loaded material pile, and determines the target loading angle according to the positional relationship between the center point of the material pile in the three-dimensional loading area and the loading point, which can be applied to high dynamic change of the to-be-loaded material pile, solves the problem that the prior art of selecting the target loading angle from multiple preset loading angles is difficult to be applied to high dynamic change of the to-be-loaded material pile, leading to inaccurate target loading angle, and improves the accuracy of the loading angle of the engineering machinery and the material loading efficiency.

[0030] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to make the technical solution in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0032] Figure 1 is a flow chart of a method for determining a loading angle of an engineering machine according to an embodiment of the present application;

[0033] Figure 2 is an effect diagram of a loading path approach point group according to an embodiment of the present application;

[0034] Figure 3 is a flow chart of another method for determining a loading angle of an engineering machine according to an embodiment of the present application;

[0035] Figure 4 is a schematic diagram of a three-dimensional loading area according to an embodiment of the present application;

[0036] Figure 5 is a schematic diagram of a target vector in a cube according to an embodiment of the present application;

[0037] Figure 6 is a schematic diagram of a target vector in a sphere according to an embodiment of the present application;

[0038] Figure 7 is a structural schematic diagram of a device for determining a loading angle of an engineering machine according to an embodiment of the present application;

[0039] Figure 8 is a structural schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the technical solution in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0041] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0042] Embodiment one

[0043] Figure 1 is a flowchart of a method for determining a loading angle of an engineering machine according to an embodiment of the present application. The embodiment can be applicable to the case of determining the loading angle of the engineering machine at each loading point. The method can be executed by a loading angle determination device of the engineering machine, which can be realized in the form of hardware and / or software, and can be configured in an electronic device.

[0044] As shown in Figure 1 , the method for determining the loading angle of the engineering machine disclosed in the embodiment can be applicable to indoor silos, indoor tunnels, outdoor mine markets and ports, etc. The engineering machine can include loaders, bulldozers and excavators, etc. The method includes:

[0045] S110, obtaining a loading point corresponding to a to-be-loaded material pile, and determining a three-dimensional loading area according to the loading point.

[0046] In the embodiment, the shape of the to-be-loaded material pile can be various, such as a multi-wall constrained shape and a high dynamic transformation shape, etc. The scene where the high dynamic transformation to-be-loaded material pile is located can include indoor open sites and outdoor open sites, etc. The volume of the three-dimensional loading area can be less than or equal to the volume of the to-be-loaded material pile point.

[0047] In this step, specifically, the shape size of the to-be-loaded material pile point can be obtained, and a three-dimensional loading area with the loading point as the center point can be determined according to the shape size of the to-be-loaded material pile point and the set shape size shrinkage rate. Alternatively, a three-dimensional loading area with the loading point as the center point of the three-dimensional shape can be determined according to the set three-dimensional shape and the shape size corresponding to the three-dimensional shape. The three-dimensional shape can be various, such as a sphere, a cube and a cuboid, etc.

[0048] S120, obtain at least one target stockpile point corresponding to the three-dimensional loading area from all the stockpile points, and determine a stockpile center point according to each target stockpile point.

[0049] In this embodiment, the target stockpile point can be a stockpile point selected from all the stockpile points corresponding to the three-dimensional loading area. The stockpile center point can be used to reflect the fastest upward direction of the engineering machine in the stockpile to be loaded.

[0050] In this step, specifically, the candidate stockpile point can be determined according to the distance between each stockpile point in the three-dimensional loading area and the ground, and the distance between the horizontal plane passed by the loading point and the ground. Then, the target stockpile point can be determined according to the distance between each candidate stockpile point and the horizontal plane passed by the loading point and the set threshold distance. Alternatively, the target stockpile point can be determined according to the distance between each stockpile point in the three-dimensional loading area and the ground, and the set distance threshold line.

[0051] Then, the horizontal coordinate, the vertical coordinate and the vertical coordinate corresponding to each target stockpile point can be obtained, and the stockpile center point can be determined according to the average value of each horizontal coordinate, vertical coordinate and vertical coordinate. Alternatively, the candidate center point can be determined in each target stockpile point according to the average distance between each target stockpile point and the ground, and the stockpile center point can be determined according to the average value of the coordinates of each candidate center point.

[0052] S130, determine a target loading angle according to the positional relationship between the stockpile center point and the loading point, and calculate the actual full bucket rate of the engineering machine at the target loading angle.

[0053] In this step, specifically, the target vector pointing from the loading point to the stockpile center point can be determined according to the positional relationship between the stockpile center point and the loading point, and the target loading angle can be determined according to the projection of the target vector. Then, the actual full bucket rate of the engineering machine can be determined according to the target loading angle and each target stockpile point in the three-dimensional loading area.

[0054] For example, assuming that the engineering machine is a loader or a bulldozer, the projection of the target vector on the ground can be determined as the target loading angle. Assuming that the engineering machine is an excavator, the projection of the target vector on the boom of the excavator can be determined as the target loading angle.

[0055] S140, when the actual full bucket rate is greater than the full bucket rate threshold, control the engineering machine to perform the loading operation at the loading point according to the target loading angle.

[0056] At this step, specifically, after the loading operation is performed according to the target loading angle, it can be judged whether the to-be-loaded material pile is a bulk material pile or a crescent-shaped material pile. If yes, the material pile center point can be taken as the loading point, and the operation of determining the three-dimensional loading area according to the loading point is returned to be performed until there is no target material pile point in the three-dimensional loading area. Then, a loading path passing point group composed of the loading point and each material pile center point can be obtained, and the loading path passing point group is subjected to Bayesian curve fitting to obtain the loading path. If no, the step of obtaining the loading point corresponding to the to-be-loaded material pile and determining the three-dimensional loading area according to the loading point is returned to be performed until the processing of all loading points is completed.

[0057] Figure 2 It is an effect diagram of a loading path passing point group provided according to an embodiment of the present application.

[0058] For example, as shown in Figure 2 shown, a three-dimensional loading area with the loading point P0 as the spherical center can be determined according to a preset radius, and the distance between each material pile point in the three-dimensional loading area and the ground can be determined. According to a preset selection condition, each material pile point in the three-dimensional loading area is selected to obtain a target material pile point. The preset selection condition can be various, for example, the distance between the material pile point and the ground is greater than 1.5 times the preset radius. Then, a first material pile center point P1 can be determined according to the target material pile point, and based on the first material pile center point P1, the operation of determining the three-dimensional loading area and the target material pile point is repeatedly performed to obtain a second material pile center point P2. Then, based on the second material pile center point P2, the operation of determining the three-dimensional loading area, the target material pile point and the material pile center point is repeatedly performed until there is no target material pile point in the updated three-dimensional loading area. Finally, a loading path passing point group composed of the loading point P0 and each material pile center point can be obtained, and the loading path passing point group is subjected to Bayesian curve fitting to obtain the loading path.

[0059] The advantage of such a setting is that by determining the loading path for the lost bulk material and crescent-shaped material pile, the loading of the lost bulk material and crescent-shaped material pile can be completed based on one loading point, thereby improving the loading efficiency. Secondly, by determining the loading path, the situation that the side of the engineering machinery is pressed against the to-be-loaded material pile, thereby causing the engineering machinery to overturn, can be avoided, thereby ensuring the driving safety of the engineering machinery.

[0060] S150, when the actual full bucket rate is less than or equal to the full bucket rate threshold, after the three-dimensional loading area is subjected to shape adjustment, the operation of S120 is returned to be performed.

[0061] In this step, specifically, when the actual bucket filling rate is less than or equal to the bucket filling rate threshold, the shape of the three-dimensional loading area is adjusted along the adjustment direction of increasing or decreasing the three-dimensional loading area, and then the operation of acquiring at least one target stockpile point corresponding to the three-dimensional loading area from all stockpile points is performed again until the end condition is met. The end condition can be that the actual bucket filling rate is greater than the bucket filling rate threshold, or that the number of adjustments of the three-dimensional loading area reaches a preset number and the actual bucket filling rate is still not greater than the bucket filling rate threshold. If the number of adjustments of the three-dimensional loading area reaches the preset number and the actual bucket filling rate is still not greater than the bucket filling rate threshold, it can be considered that the amount of material near the loading point is small, and at this time the cycle can be ended and a prompt information that the loading operation is not suitable at the loading point is output.

[0062] The advantage of this setting is that by adjusting the shape of the three-dimensional loading area when the actual bucket filling rate is less than or equal to the bucket filling rate threshold, and then performing the operation of acquiring at least one target stockpile point corresponding to the three-dimensional loading area from all stockpile points, the influence of the bucket filling rate on the loading efficiency and quality is considered, and the loading efficiency and quality are guaranteed.

[0063] The technical scheme of the embodiment provides a loading angle determination method of an engineering machine. The loading point corresponding to the stockpile to be loaded is acquired, and the three-dimensional loading area is determined according to the loading point. At least one target stockpile point corresponding to the three-dimensional loading area is acquired from all stockpile points, and the stockpile center point is determined according to each target stockpile point. The target loading angle is determined according to the positional relationship between the stockpile center point and the loading point, and the actual bucket filling rate of the engineering machine at the target loading angle is calculated. When the actual bucket filling rate is greater than the bucket filling rate threshold, the engineering machine is controlled to perform the loading operation at the loading point according to the target loading angle. When the actual bucket filling rate is less than or equal to the bucket filling rate threshold, the shape of the three-dimensional loading area is adjusted, and then the operation of acquiring at least one target stockpile point corresponding to the three-dimensional loading area from all stockpile points is performed again until the end condition is met. The technical scheme solves the problem in the prior art that it is difficult to select a target loading angle from multiple preset loading angles and apply it to a high-dynamic stockpile to be loaded, which leads to inaccurate target loading angle, and can accurately determine the loading angle of the engineering machine, thereby improving the loading efficiency of the engineering machine.

[0064] Embodiment Two

[0065] Figure 3 is a flowchart of another loading angle determination method of an engineering machine according to Embodiment Two of the present application. The embodiment is a further optimization and expansion based on the above-mentioned embodiments, and can be combined with each optional technical scheme in the above-mentioned embodiments.

[0066] As Figure 3As shown, the embodiment discloses a shovel loading angle determination method of an engineering machine, which comprises:

[0067] S210, a loading point corresponding to a to-be-loaded material pile, a set three-dimensional shape, and a shape size corresponding to the three-dimensional shape are acquired, and a three-dimensional loading area is determined with the loading point as a center point of the three-dimensional shape according to the three-dimensional shape and the shape size.

[0068] Figure 4 It is a schematic diagram of a three-dimensional loading area provided by the embodiment of the present application.

[0069] For example, assuming that the set three-dimensional shape is a sphere, the shape size corresponding to the three-dimensional shape can be a sphere radius. Figure 4 As shown, assuming that the set three-dimensional shape is a cube, the shape size corresponding to the cube is the length, width and height of the cube.

[0070] S220, a distance threshold upper limit is determined according to the shape size corresponding to the three-dimensional shape and a set shape size multiple, and a threshold distance line is determined according to the distance threshold upper limit and the distance between the loading point and the ground.

[0071] In the embodiment, the type of the threshold distance line can be various, for example, a straight line with the distance between each point and the ground being equal to the distance threshold upper limit, and a curve with the distance between only one point and the ground being equal to the distance threshold upper limit.

[0072] In this step, specifically, the product of the shape size and the set shape size multiple can be taken as the distance threshold upper limit. Then, the threshold distance line can be determined in an interval greater than the distance between the loading point and the ground and less than or equal to the distance threshold upper limit.

[0073] S230, the distance value between each material pile point and the ground is calculated respectively, and the material pile point with the distance value exceeding the distance threshold line is determined as a target material pile point.

[0074] As shown in the above example, Figure 4 As shown, the red points in the cube are the loading points, the green points are the points below the threshold distance line, and the black points are the target material pile points.

[0075] S240, a candidate center point is determined from the target material pile points according to the average value of the distance between each target material pile point and the ground, the horizontal coordinate, the vertical coordinate and the vertical coordinate corresponding to each candidate center point are acquired, and a material pile center point is determined according to the average value corresponding to each horizontal coordinate, vertical coordinate and vertical coordinate.

[0076] At this step, specifically, the average of the distances between the target pile points and the ground can be determined, and the target pile point with the distance to the ground equal to the average distance is taken as the candidate center point. Then, the horizontal coordinate, the vertical coordinate and the vertical coordinate corresponding to each candidate center point respectively can be obtained, and the average of the horizontal coordinates, the average of the vertical coordinates and the average of the vertical coordinates are determined, and the center point of the pile is determined according to the average of the horizontal coordinates, the average of the vertical coordinates and the average of the vertical coordinates.

[0077] As shown in the following example, Figure 4 the yellow point in the cube is the center point of the pile.

[0078] S250, the target vector from the shovel loading point to the center point of the pile is obtained, and the vector direction of the target vector is determined as the target shovel loading angle.

[0079] Figure 5 is a schematic diagram of a target vector in a cube according to an embodiment of the present application, Figure 6 is a schematic diagram of a target vector in a sphere according to an embodiment of the present application.

[0080] As shown in the following example, Figure 5 the position information of the shovel loading point and the position information of the center point of the pile in the cube can be obtained, and the target vector from the shovel loading point to the center point of the pile is determined according to the position information, and the vector direction of the target vector is determined.

[0081] As shown in the following example, Figure 6 the position information of the shovel loading point and the position information of the center point of the pile in the sphere can be obtained, and the target vector from the shovel loading point to the center point of the pile is determined according to the position information, and the vector direction of the target vector is determined.

[0082] S260, according to the shovel loading point and the target shovel loading angle, the shovel loading trajectory of the engineering machinery is determined, and according to the shovel loading trajectory and the target pile points corresponding to the three-dimensional shovel loading area, the actual shovel loading amount of the engineering machinery is determined.

[0083] S270, according to the actual shovel loading amount and the preset full bucket capacity, the actual full bucket rate of the engineering machinery at the target shovel loading angle is determined.

[0084] At this step, specifically, the actual full bucket rate of the engineering machinery at the target shovel loading angle can be determined according to the ratio of the actual shovel loading amount and the preset full bucket capacity.

[0085] S280, when the actual full bucket rate is greater than the full bucket rate threshold, the engineering machinery is controlled to perform the shovel loading operation at the shovel loading point according to the target shovel loading angle.

[0086] At this step, specifically, the loading distance under the target loading angle can be determined when it is determined that the actual full bucket rate corresponding to the target loading angle is greater than the full bucket rate threshold, and the engineering machinery is controlled to perform the loading operation at the loading point according to the target loading angle and the loading distance. The loading distance can be the moving distance of the bucket in the to-be-loaded material pile.

[0087] The advantage of such an arrangement is that the loading distance under the target loading angle is the minimum, and therefore performing the loading operation according to the loading distance under the target loading angle can improve the loading efficiency.

[0088] S290, when the actual full bucket rate is less than or equal to the full bucket rate threshold, the shape of the three-dimensional loading area is adjusted, and then S220 is returned to be executed.

[0089] At this step, the shape adjustment of the three-dimensional loading area includes: adjusting the shape of the three-dimensional loading area in the adjustment direction of increasing the three-dimensional loading area.

[0090] The advantage of such an arrangement is that by adjusting the shape of the three-dimensional loading area in the adjustment direction of increasing the three-dimensional loading area, the situation that the three-dimensional loading area is too small to have too few material pile points and thus a suitable material pile center point cannot be found is avoided.

[0091] The technical scheme of the embodiment determines the candidate center point among the target material pile points through the average distance between each target material pile point and the ground, obtains the respective horizontal coordinates, vertical coordinates and vertical coordinates corresponding to each candidate center point, and determines the material pile center point according to the average values corresponding to the respective horizontal coordinates, vertical coordinates and vertical coordinates. The vector direction of the target vector from the loading point to the material pile center point is determined as the target loading angle. The loading trajectory of the engineering machinery is determined according to the loading point and the target loading angle, and the actual loading amount of the engineering machinery is determined according to the loading trajectory and the target material pile points corresponding to the three-dimensional loading area. The technical means of returning to determine the target loading angle according to the actual loading amount and the preset full bucket capacity solves the problem in the prior art that it is difficult to apply the existing technology of selecting the target loading angle from multiple preset loading angles to a high-dynamic change to-be-loaded material pile, resulting in inaccurate target loading angle. The loading angle of the engineering machinery can be accurately determined, and the loading efficiency of the engineering machinery is improved. Furthermore, by determining the three-dimensional loading area and determining the material pile points with a distance value exceeding the distance threshold line as target material pile points, the noise points in the to-be-loaded material pile that are irrelevant to the determination of the target loading angle can be gradually removed, thereby improving the accuracy of determining the target loading point.

[0092] Embodiment Three

[0093] Figure 7is a structural schematic diagram of a loading angle determination device of an engineering machine according to Embodiment Three of the present application, and the present embodiment can be applied to the case where the loading angle of the engineering machine at each loading point is determined, and the loading angle determination device of the engineering machine can be realized in the form of hardware and / or software and can be configured in an electronic device.

[0094] As shown in Figure 7 , the loading angle determination device of the engineering machine disclosed in the present embodiment comprises:

[0095] A loading area determination module 71 is configured to obtain a loading point corresponding to a to-be-loaded material pile, and determine a three-dimensional loading area according to the loading point.

[0096] A pile center point determination module 72 is configured to obtain at least one target pile point corresponding to the three-dimensional loading area from all pile points, and determine a pile center point according to each target pile point.

[0097] An actual full bucket rate determination module 73 is configured to determine a target loading angle according to the positional relationship between the pile center point and the loading point, and calculate the actual full bucket rate of the engineering machine at the target loading angle.

[0098] A target loading angle determination module 74 is configured to control the engineering machine to perform a loading operation at the loading point according to the target loading angle when the actual full bucket rate is greater than a full bucket rate threshold.

[0099] A loading angle adjustment module 75 is configured to return to the operation of obtaining at least one target pile point corresponding to the three-dimensional loading area from all pile points after adjusting the shape of the three-dimensional loading area when the actual full bucket rate is less than or equal to the full bucket rate threshold, until a termination condition is met.

[0100] The technical solution in the present embodiment solves the problem that the prior art of selecting a target loading angle from multiple preset loading angles cannot be applied to a to-be-loaded material pile with high dynamic changes, resulting in inaccurate target loading angle, by the mutual cooperation of the loading area determination module, the pile center point determination module, the actual full bucket rate determination module, the target loading angle determination module and the loading angle adjustment module, and can accurately determine the loading angle of the engineering machine, thereby improving the loading efficiency of the engineering machine.

[0101] Optionally, the loading area determination module 71 comprises:

[0102] A shape and size acquisition unit is configured to acquire a set three-dimensional shape and a shape size corresponding to the three-dimensional shape.

[0103] A loading area determination unit is configured to determine the three-dimensional loading area with the loading point as the center point of the three-dimensional shape according to the three-dimensional shape and the shape size.

[0104] Optionally, the stockpile center point determination module 72 comprises:

[0105] a threshold upper limit determination unit configured to determine a distance threshold upper limit according to a shape size corresponding to the three-dimensional shape and a shape size multiple;

[0106] a threshold line determination unit configured to determine a distance threshold line according to the distance threshold upper limit and a distance between the loading point and the ground;

[0107] a target stockpile point determination unit configured to calculate a distance value between each stockpile point and the ground respectively, and determine a target stockpile point as a stockpile point whose distance value exceeds the distance threshold line;

[0108] a candidate center point determination unit configured to determine a candidate center point from the target stockpile points according to an average distance value between each target stockpile point and the ground;

[0109] a stockpile center point determination unit configured to obtain a horizontal coordinate, a vertical coordinate and a vertical coordinate respectively corresponding to each candidate center point, and determine a stockpile center point according to an average value of the horizontal coordinate, the vertical coordinate and the vertical coordinate respectively corresponding to each candidate center point.

[0110] Optionally, the actual full bucket rate determination module 73 comprises:

[0111] a target loading angle determination unit configured to obtain a target vector pointing from the loading point to the stockpile center point, and determine a vector direction of the target vector as a target loading angle;

[0112] a loading trajectory determination unit configured to determine a loading trajectory of the engineering machinery according to the loading point and the target loading angle;

[0113] an actual loading amount determination unit configured to determine an actual loading amount of the engineering machinery according to the loading trajectory and each target stockpile point corresponding to the three-dimensional loading area;

[0114] an actual full bucket rate determination unit configured to determine an actual full bucket rate of the engineering machinery at the target loading angle according to the actual loading amount and the preset full bucket capacity.

[0115] Optionally, the loading angle adjustment module 75 comprises:

[0116] a shape adjustment unit configured to perform shape adjustment on the three-dimensional loading area along an adjustment direction for increasing the three-dimensional loading area.

[0117] The engineering machinery loading angle determination device provided by the embodiment of the present application can perform the engineering machinery loading angle determination method provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method. The contents not described in detail in the present embodiment can be referred to the description in any method embodiment of the present application.

[0118] Example 4

[0119] Figure 8 A schematic diagram of the structure of an electronic device 10 that can be used to implement embodiments of the present invention is shown. For example... Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0120] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0121] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for determining the loading angle of construction machinery.

[0122] In some embodiments, the shovel loading angle determination method of the working machine can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, parts or all of the computer program can be loaded onto and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the shovel loading angle determination method of the working machine described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the shovel loading angle determination method of the working machine by any other suitable means, such as by means of firmware.

[0123] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0124] Computer programs used to implement the processes of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0125] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0126] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0127] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0128] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0129] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0130] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of determining a dipper loading angle of a construction machine, characterized by, The method comprises: acquiring a loading point corresponding to a to-be-loaded material pile, and determining a three-dimensional loading area according to the loading point; acquiring at least one target material pile point corresponding to the three-dimensional loading area from all material pile points, and determining a material pile center point according to each target material pile point; determining a target loading angle according to the positional relationship between the material pile center point and the loading point, and calculating an actual full bucket rate of the engineering machinery at the target loading angle; when the actual full bucket rate is greater than a full bucket rate threshold, controlling the engineering machinery to perform a loading operation at the loading point according to the target loading angle; when the actual full bucket rate is less than or equal to the full bucket rate threshold, performing shape adjustment on the three-dimensional loading area, and returning to the operation of acquiring at least one target material pile point corresponding to the three-dimensional loading area from all material pile points until a termination condition is met; wherein the three-dimensional loading area is determined according to the loading point, comprising: acquiring a set three-dimensional shape and a shape size corresponding to the three-dimensional shape; determining the three-dimensional loading area with the loading point as the center point of the three-dimensional shape according to the three-dimensional shape and the shape size; wherein the at least one target material pile point corresponding to the three-dimensional loading area is acquired from all material pile points, comprising: determining a distance threshold upper limit according to the shape size corresponding to the three-dimensional shape and a set shape size multiple; determining a threshold distance line according to the distance threshold upper limit and the distance between the loading point and the ground; calculating the distance value between each material pile point and the ground respectively, and determining a material pile point with a distance value exceeding the threshold distance line as a target material pile point.

2. The method of claim 1, wherein, The material pile center point is determined according to each target material pile point, comprising: determining a candidate center point in each target material pile point according to the average distance between each target material pile point and the ground; acquiring the horizontal coordinate, vertical coordinate and vertical coordinate corresponding to each candidate center point respectively, and determining the material pile center point according to the average value corresponding to each horizontal coordinate, vertical coordinate and vertical coordinate.

3. The method according to any of claims 1-2, and characterized by, The target loading angle is determined according to the positional relationship between the material pile center point and the loading point, comprising: acquiring a target vector from the loading point to the material pile center point, and determining the vector direction of the target vector as the target loading angle.

4. The method according to any one of claims 1-2, characterized in that, The actual full bucket rate of the engineering machinery at the target loading angle is calculated, comprising: determining the loading trajectory of the engineering machinery according to the loading point and the target loading angle; determining the actual loading amount of the engineering machinery according to the loading trajectory and each target material pile point corresponding to the three-dimensional loading area; determining the actual full bucket rate of the engineering machinery at the target loading angle according to the actual loading amount and the preset full bucket capacity.

5. The method according to any of claims 1-2, characterized by, The shape of the three-dimensional loading area is adjusted, comprising: adjusting the shape of the three-dimensional loading area in the direction of increasing the three-dimensional loading area.

6. A shovel loading angle determining device of a construction machine, characterized by comprising: The device comprises: a loading area determination module for acquiring a loading point corresponding to a to-be-loaded material pile, and determining a three-dimensional loading area according to the loading point; a material pile center point determination module for acquiring at least one target material pile point corresponding to the three-dimensional loading area from all material pile points, and determining a material pile center point according to each target material pile point; The actual full bucket rate determination module is configured to determine a target loading angle according to the positional relationship between the stockpile center point and the loading point, and to calculate an actual full bucket rate of the construction machine at the target loading angle. The target loading angle determination module is configured to control the construction machine to perform a loading operation at the loading point according to the target loading angle when the actual full bucket rate is greater than the full bucket rate threshold. The loading angle adjustment module is configured to return to perform the operation of obtaining at least one target stockpile point corresponding to the three-dimensional loading region from all stockpile points after adjusting the shape of the three-dimensional loading region when the actual full bucket rate is less than or equal to the full bucket rate threshold, until a termination condition is met. The loading region determination module includes: The shape size acquisition unit is configured to acquire a set three-dimensional shape and a shape size corresponding to the three-dimensional shape. The loading region determination unit is configured to determine a three-dimensional loading region with the loading point as the center point of the three-dimensional shape according to the three-dimensional shape and the shape size. The stockpile center point determination module includes: The threshold upper limit determination unit is configured to determine a distance threshold upper limit according to the shape size corresponding to the three-dimensional shape and a set shape size multiple. The threshold line determination unit is configured to determine a threshold distance line according to the distance threshold upper limit and the distance between the loading point and the ground. The target stockpile point determination unit is configured to calculate the distance value between each stockpile point and the ground, and to determine a stockpile point with a distance value exceeding the threshold distance line as a target stockpile point.

7. An electronic device, comprising: The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the loading angle determination method of the construction machine according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the loading angle determination method of the construction machine according to any one of claims 1-5 when executed.

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