Unmanned bulldozer operation method and system, bulldozer and storage medium

Abstract

The invention provides an operation method and system of an unmanned bulldozer, the bulldozer and a storage medium, relates to the technical field of computer control, and aims to solve the problem that the construction efficiency is influenced by a long construction interval due to the fact that environment information needs to be collected for multiple times during current continuous bulldozing construction operation. According to the method, the environment map is used for path planning of the construction area in the current state, the environment information is collected in the construction operation process, the updated environment map is obtained through processing on the basis of the obtained environment information after construction is completed and used for subsequent construction operation, the process of collecting the environment map again in the next construction process is omitted, and the construction efficiency is improved. The continuous construction requirement is met, and the construction efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of computer control technology, and in particular to an unmanned bulldozer operation method, system, bulldozer and storage medium. Background Art

[0002] With the rapid development of unmanned driving technology, the application scenarios are increasing. Due to the relatively closed working environment, relatively fixed working mode, harsh working environment and large manpower shortage in mining and earthwork, unmanned driving technology has broad application prospects in mining and earthwork.

[0003] A Chinese patent (publication number: CN 113235681 B) discloses an unmanned bulldozer operation method, device, bulldozer and medium, which collects the real-time operation scene of the current bulldozer; analyzes and identifies the real-time operation scene to obtain the current construction condition; obtains the target operation rule matching the current construction condition according to the preset operation rule library; and controls the current bulldozer operation according to the target operation rule. Solve the problem that earthwork construction operations rely on human operations and have poor operation standardization. During the bulldozer operation process, the terrain environment of the construction area is constantly changing. For operating environment scenes such as mines and earthwork, there are scenes that require multiple bulldozer constructions. Each time before construction, the terrain environment of the construction area needs to be obtained separately. The interval time between adjacent construction operations is long, which is difficult to meet the needs of continuous construction and construction efficiency; in the process of executing construction according to the set operation rules, there is a situation where the operation rules do not match the actual environment, resulting in the target state after construction being difficult to meet the needs, and it will affect the next construction process and there are safety hazards. Summary of the invention

[0004] The purpose of the present invention is to address the defects of the prior art and provide an unmanned bulldozer operation method, system, bulldozer and storage medium, which utilizes the environmental map to plan the path in the current state of the construction area, collects environmental information during the construction process, and obtains an updated environmental map based on the acquired environmental information after the construction is completed for use in subsequent construction operations, thereby eliminating the process of re-collecting the environmental map during the next construction, meeting the needs of continuous construction and improving construction efficiency.

[0005] The first object of the present invention is to provide an unmanned bulldozer operation method, which adopts the following scheme: include: Get the environmental map of the current bulldozer construction area; Performing target task planning based on the environmental map, and performing path planning in the construction area according to the target task planning; Control the current bulldozer operation according to path planning; During the current bulldozer operation, real-time collection of environmental information of the construction area; After the current bulldozer operation is completed, the real-time collected environmental information of the construction area is used to perform scene mapping to obtain an updated environmental map of the construction area for subsequent bulldozer operations.

[0006] Furthermore, remote control information is obtained to control the bulldozer to power on, start or stop remotely.

[0007] Furthermore, before obtaining the environmental map of the current bulldozer construction area, the environmental information surrounding the bulldozer is collected to determine whether the bulldozer is in the construction area; If so, obtain the environment map; If not, adjust the bulldozer position so that it is in the construction area.

[0008] Furthermore, when the construction area is constructed for the first time, environmental information of the construction area where the bulldozer is currently located is collected, and scene mapping is performed to obtain an environmental map of the current construction area.

[0009] Furthermore, the target task planning based on the environmental map includes: obtaining the target construction area status based on the environmental map of the current construction area in combination with set construction area environmental parameters; and obtaining the target task planning by combining the target construction area status with the current bulldozer operating parameters.

[0010] Furthermore, during the current bulldozer operation, the surrounding environment of the current bulldozer is sensed, and when an obstacle is identified, behavior planning is performed to confirm whether to avoid it.

[0011] Furthermore, the bulldozer currently communicates with other equipment in the construction area and jointly accepts the dispatch of the control terminal.

[0012] A second object of the present invention is to provide an unmanned bulldozer operation system, comprising: The environment map acquisition module is configured to: acquire an environment map of the current bulldozer construction area; A path planning module is configured to: perform target task planning based on the environment map, and perform path planning in the construction area according to the target task planning; The execution module is configured to: control the current bulldozer operation according to the path planning; The information collection module is configured to: collect environmental information of the construction area in real time during the current bulldozer operation; The mapping module is configured to: after the current bulldozer operation is completed, use the real-time collected environmental information of the construction area to perform scene mapping to obtain an updated environmental map of the construction area for subsequent bulldozer operations.

[0013] The third object of the present invention is to provide a bulldozer, comprising a radar, a processor and a memory, wherein the radar is used to collect environmental information of a construction area in real time, and the memory stores computer instructions. When the computer instructions are executed by the processor, the bulldozer executes the unmanned bulldozer operation method described in any one of claims 1 to 7.

[0014] The fourth object of the present invention is to provide a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the unmanned bulldozer operation method as in the first object.

[0015] Compared with the prior art, the present invention has the following advantages and positive effects: (1) In order to solve the problem that continuous earthmoving construction requires multiple environmental information collections, resulting in long construction intervals and affecting construction efficiency, the environmental map is used to plan the path in the current state of the construction area. Environmental information is collected during the construction process, and an updated environmental map is obtained based on the environmental information after the construction is completed for use in subsequent construction operations. This eliminates the need to re-collect the environmental map during the next construction, meets the needs of continuous construction, and improves construction efficiency.

[0016] (2) After obtaining the environmental map of the bulldozer construction area that year, the path planning of the construction area is carried out according to the determined target task planning, so as to achieve the matching between the current construction area and the moving path of the bulldozer during construction, so that the state of the construction area after the bulldozer works can meet the target state requirements, reduce the adverse impact on the next construction, and improve the overall work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0018] Figure 1 Flow chart of the unmanned bulldozer control process in Embodiments 1-4 of the present invention. DETAILED DESCRIPTION

[0019] Terminology explanation: 5G CPE: CPE stands for Customer Premise Equipment. 5G CPE is an emerging 5G terminal device with a built-in 5G chip that can convert 5G signals sent by base stations into broadband / Wi-Fi signals.

[0020] Lidar: Lidar is a sensing technology that uses laser beams to measure the distance, shape, and surface features of target objects. A Lidar system typically consists of a laser transmitter, receiver, clock, and data processing unit. It works by emitting laser pulses to the target and then measuring the time and phase difference of the laser return to calculate the distance and shape of the target.

[0021] Example 1 In a typical embodiment of the present invention, Figure 1 As shown, an unmanned bulldozer operation method is given.

[0022] In the operation method of unmanned bulldozers in mining and earthwork operations, the remote control system can control the vehicle at the remote end, but it cannot get rid of human control and needs to operate under the real-time control of the driver. The remote control operation method can control the vehicle through the remote control device to achieve remote control of the vehicle. However, the remote control method is not a completely unmanned operation, because it still requires the real-time participation and control of the operator, and the driver needs to continue to participate in the operation process.

[0023] However, the current unmanned bulldozers tend to control their working state, and pay little attention to the terrain environment information before construction. When multiple constructions are carried out, the interval between construction operations is long, which makes it difficult to meet the needs of continuous construction and construction efficiency. Based on this, this embodiment provides an unmanned bulldozer operation method, which can use the environmental map to plan the path in the current state, collect environmental information during the construction process, and obtain an updated environmental map based on the acquired environmental information after the construction is completed for use in subsequent construction operations, eliminating the process of re-collecting the environmental map during the next construction, meeting the needs of continuous construction and improving construction efficiency.

[0024] like Figure 1 As shown, an unmanned bulldozer operation method adopts the following scheme: include: Get the environmental map of the current bulldozer construction area; Carry out target task planning based on the environment map, and carry out path planning in the construction area according to the target task planning; Control the current bulldozer operation according to path planning; During the current bulldozer operation, the environmental information of the construction area is collected in real time; After the current bulldozer operation is completed, the environmental information of the construction area is collected in real time to build a scene map, and an updated environmental map of the construction area is obtained for subsequent bulldozer operations.

[0025] When executing the above-mentioned unmanned bulldozer operation method, if Figure 1As shown, it is implemented by dividing it into two parts, namely the emergency takeover center and the vehicle end. The vehicle end is the current bulldozer, and the emergency takeover center is the remote control system. The emergency vehicle management center and the vehicle end realize information exchange through 5G CPE and use the private network.

[0026] Before the current bulldozer starts working, remote control information is obtained to control the bulldozer to power on, start or stop remotely. Figure 1 As shown, the low-power remote power-on controller of the bulldozer is remotely controlled at the emergency takeover center, so that the bulldozer can be powered on at the non-vehicle end.

[0027] The low-power remote power-on controller is equipped with a power-on control system that can detect the power-on status. After the bulldozer is remotely powered on, the power-on control system detects that it has been powered on and sends a signal to the emergency takeover center for the next step of operation.

[0028] After power-on, the emergency takeover center can check the data transmitted back from the vehicle through the human-computer interaction interface. If there is no abnormality, remote start can be performed.

[0029] Due to the adoption of remote power-on control, although the bulldozer's location can be determined through the positioning system, it is difficult to ensure its accuracy because it operates in relatively harsh outdoor environments such as mines and earthworks. Therefore, in this embodiment, the bulldozer's location is determined through remote video monitoring. Before obtaining the environmental map of the current bulldozer construction area, the surrounding environment information of the bulldozer is collected to determine whether the bulldozer is in the construction area; If so, obtain the environment map; If not, adjust the bulldozer position so that it is in the construction area.

[0030] Regarding the judgment and adjustment of the bulldozer position, specifically, after the unmanned bulldozer is started, the surrounding environment of the unmanned bulldozer can be viewed through the remote video monitoring system. At this time, check whether the unmanned bulldozer is within the construction area. If it is not within the construction area, the bulldozer is remotely controlled to the designated construction area through the remote control system and video monitoring system of the simulated cockpit. The video monitoring system is responsible for monitoring the surrounding environment, and the remote control system is responsible for the vehicle-side wire control system.

[0031] like Figure 1 As shown, when the construction area is constructed for the first time, it is necessary to obtain the environmental map first. The environmental information of the construction area where the bulldozer is currently located is collected, and the scene is mapped to obtain the environmental map of the current construction area.

[0032] Specifically, when the unmanned bulldozer is in the construction area, the scene is mapped using the laser radar of the unmanned bulldozer. The scene is mapped by controlling the unmanned bulldozer to walk through the simulated cockpit. During the walking process, the laser radar on the unmanned bulldozer builds the scene. When the unmanned bulldozer finishes walking, the map of the construction area is completed.

[0033] After the map is built, the environmental map on the vehicle side is sent to the server of the emergency takeover center.

[0034] Among them, target task planning based on the environmental map includes: obtaining the target construction area status based on the environmental map of the current construction area combined with the set construction area environmental parameters; and obtaining the target task planning by combining the target construction area status with the current bulldozer operating parameters.

[0035] As for the combination of environmental maps and construction area environmental parameters, the environmental map is obtained by scene mapping in the construction area through the laser radar and other equipment of the unmanned bulldozer. It reflects the static and dynamic information of the construction area, such as terrain, obstacles, boundaries, etc. The construction area environmental parameters are pre-set to describe the specific requirements of the construction area, such as bulldozing depth, slope, soil type, humidity, etc. These parameters may vary for different construction tasks.

[0036] Combining the environmental map with the environmental parameters of the construction area can generate a "target construction area status" that integrates terrain information, obstacle distribution, and construction requirements. This status not only includes the spatial characteristics of the construction area, but also incorporates the specific requirements of the construction, providing a basis for subsequent task planning.

[0037] The combination of the target construction area status and the bulldozer operating parameters includes the bulldozer's performance parameters (such as power, torque, travel speed), working parameters (such as bucket capacity, dozing depth, work cycle time), and possible special configurations (such as attachment tools, tire type). The combination of the target construction area status and the bulldozer's operating parameters is to determine the best operating strategy for the bulldozer when performing specific construction tasks. This process involves an assessment of the bulldozer's capabilities and adaptive adjustments to the construction area status. For example, if the construction area is soft soil, the bulldozer may need to reduce the travel speed and dozing depth to prevent getting stuck or damaging the ground.

[0038] Based on the target construction area status and bulldozer operating parameters, the system can generate a specific "target task plan". This plan includes the bulldozer's driving path in the construction area, the specific location of the bulldozing operation, the operation sequence, and the operating parameters (such as bulldozing depth and speed). The purpose of target task planning is to ensure that the bulldozer can complete the construction task efficiently and safely while meeting the environmental parameter requirements of the construction area.

[0039] After the target task plan is generated, it will be transmitted to the bulldozer's control system to guide the bulldozer to perform actual construction operations. During the operation, the system will dynamically adjust the target task plan based on the real-time collected environmental information and the operating status of the bulldozer. For example, when an obstacle is detected, the system may replan the driving path or adjust the operating parameters to avoid collision. By combining the environmental map, the construction area environmental parameters and the bulldozer operating parameters, a target task plan that meets the construction requirements is generated, thereby guiding the bulldozer to perform efficient and safe construction operations.

[0040] Specifically, the emergency takeover center can view the map through the human-computer interaction system. In this system, the existing construction area map is used to plan and issue tasks. After the task parameters are sent to the computing center on the vehicle side, the computing center will plan the construction tasks according to the construction parameters. When the construction task planning is completed, the construction task will be transmitted to the server of the emergency takeover center. The construction tasks are stored in the construction task management system of the server of the emergency takeover center.

[0041] When the emergency takeover center server receives the construction task of the construction area, the supervisor can issue the operation instruction according to the construction site conditions. After the operation order is issued, the vehicle control center will control the vehicle to perform the construction work according to the construction task.

[0042] During the current bulldozer operation, the system senses the surrounding environment of the current bulldozer, and when an obstacle is identified, it performs behavior planning to confirm whether to avoid it.

[0043] Specifically, Figure 1 As shown in the figure, during the construction process, the environmental perception system of the vehicle-side computing center will perceive the environment around the vehicle in real time. When people, trucks and other targets affect the construction of the unmanned bulldozer, the safety system of the control center will perform behavior planning to control whether the unmanned bulldozer stops or continues construction. At the same time, this situation will be transmitted back to the server of the emergency takeover center, and the supervisor can also manually take over the emergency control. The vehicle-side control center includes sub-sections such as behavior planning, motion planning, motion and operation control, vehicle-mounted operation management system, collaborative operation management system, and safety system.

[0044] The current bulldozer communicates with other equipment in the construction area and accepts the dispatch of the control end together. In this embodiment, in terms of the collaborative operation management system, the vehicle end is equipped with a smart mine interface. According to the different needs of the mine, the unmanned bulldozer communicates with other engineering machinery in the mine to improve the efficiency of construction work and ensure efficient and safe operation.

[0045] During the construction process of the unmanned bulldozer, the mapping system of the computing center on the vehicle side will work in real time to map the surrounding environment, and when the construction is completed, a new map will be formed. This map is constructed for the real environment after the construction is completed. This method can improve the efficiency of the next construction, save the mapping time of the next construction, and eliminate the need for the next mapping. Until the construction task is completed.

[0046] Equipped with two systems, the emergency takeover center and the vehicle-side system, the vehicle can be powered on remotely without the need for manual labor to go to the bulldozer to power it on, saving time and greatly improving work efficiency.

[0047] Traditional land leveling and bulldozing work is dangerous, especially in mining and earthwork environments, including harsh working environments, risks of digging objects, and dangers of heavy machinery operation. The use of unmanned bulldozers can reduce the chances of personnel being exposed to these potential risks, improve work safety, and reduce the possibility of accidents.

[0048] The unmanned bulldozer operation method enables one person to monitor multiple unmanned equipment, greatly improving construction efficiency. In addition, the unmanned bulldozer can work continuously without intervals, thereby increasing working time, reducing labor costs, and improving work efficiency.

[0049] Unmanned bulldozers are equipped with a variety of equipment to achieve intelligent unmanned construction, greatly accelerating the intelligent transformation of mines. Unmanned bulldozers can reduce unnecessary movement and fuel consumption by optimizing construction paths and movement trajectories. Due to their automated functions, they can more efficiently utilize fuel and energy resources, reducing energy waste and environmental pollution.

[0050] Example 2 In another typical embodiment of the present invention, Figure 1 As shown, an unmanned bulldozer operation system is provided.

[0051] An unmanned bulldozer operation system comprises: The environment map acquisition module is configured to: acquire an environment map of the current bulldozer construction area; A path planning module is configured to: perform target task planning based on the environment map, and perform path planning in the construction area according to the target task planning; The execution module is configured to: control the current bulldozer operation according to the path planning; The information collection module is configured to: collect environmental information of the construction area in real time during the current bulldozer operation; The mapping module is configured to: after the current bulldozer operation is completed, use the real-time collected environmental information of the construction area to perform scene mapping to obtain an updated environmental map of the construction area for subsequent bulldozer operations.

[0052] The working process of the unmanned bulldozer operating system is shown in Example 1 and will not be described in detail here.

[0053] Example 3 In another embodiment of the present invention, Figure 1 As shown, a bulldozer is given.

[0054] The bulldozer is used to implement the unmanned bulldozer operation method in the above embodiment 1, and the bulldozer includes one or more processors, one or more memories coupled to the processors, and a communication module coupled to the processors. A radar and a video monitoring component can also be provided, the radar is used to collect environmental information of the construction area in real time, and the video monitoring component can view the surrounding environment of the unmanned bulldozer through a remote video monitoring system.

[0055] The memory may include one or more non-volatile memories and one or more volatile memories. Examples of non-volatile memories include, but are not limited to, at least one of the following: read-only memory (ROM), erasable programmable read only memory (EPROM), flash memory, hard disk, compact disc (CD), digital video disc (DVD), or other magnetic storage and / or optical storage. Examples of volatile memories include, but are not limited to, at least one of the following: random access memory (RAM), or other volatile memory that does not persist during the duration of a power outage. The computer program may be stored in the ROM. When the processor executes the computer program, the above-mentioned unmanned bulldozer operation method is implemented.

[0056] Example 4 In another embodiment of the present invention, Figure 1 As shown, a computer-readable storage medium is provided.

[0057] The program may be tangibly contained in a computer-readable medium, which may be included in a device (such as in a memory) or other storage device accessible by the device. The program may be loaded from the computer-readable medium to the RAM for execution. The computer-readable medium may include any type of tangible non-volatile memory, such as ROM, EPROM, flash memory, hard disk, and the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the unmanned bulldozer operation method as in Example 1.

[0058] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a server or terminal, the process or function described in the embodiment of the present application is generated in whole or in part. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a server or terminal or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (such as a floppy disk, a hard disk and a tape, etc.), an optical medium (such as a digital video disk (DVD), etc.), or a semiconductor medium (such as a solid-state hard disk, etc.).

[0059] In addition, although each operation is described in a specific order, this should be understood as requiring such operation to be performed in the specific order shown or in a sequential order, or requiring that all illustrated operations should be performed to obtain desired results. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the application. Some features described in the context of a separate embodiment can also be implemented in a single implementation in combination. On the contrary, the various features described in the context of a single implementation can also be implemented in multiple implementations individually or in any suitable sub-combination mode.

[0060] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. An unmanned bulldozer operation method, characterized in that: include: Get the environmental map of the current bulldozer construction area; Performing target task planning based on the environmental map, and performing path planning in the construction area according to the target task planning; Control the current bulldozer operation according to path planning; During the current bulldozer operation, real-time collection of environmental information of the construction area; After the current bulldozer operation is completed, the real-time collected environmental information of the construction area is used to perform scene mapping to obtain an updated environmental map of the construction area for subsequent bulldozer operations.

2. The unmanned bulldozer operation method according to claim 1, characterized in that: Obtain remote control information to control the bulldozer to power on, start or stop remotely.

3. The unmanned bulldozer operation method according to claim 1 or 2, characterized in that: Before obtaining the environmental map of the current bulldozer construction area, collect the surrounding environmental information of the bulldozer to determine whether the bulldozer is in the construction area; If so, obtain the environment map; If not, adjust the bulldozer position so that it is in the construction area.

4. The unmanned bulldozer operation method according to claim 1, characterized in that: When the construction area is constructed for the first time, the environmental information of the construction area where the bulldozer is currently located is collected, and scene mapping is performed to obtain an environmental map of the current construction area.

5. The unmanned bulldozer operation method according to claim 1 or 4, characterized in that: The target task planning based on the environmental map includes: obtaining the target construction area state based on the environmental map of the current construction area in combination with the set construction area environmental parameters; and obtaining the target task planning based on the target construction area state in combination with the current bulldozer operating parameters.

6. The unmanned bulldozer operation method according to claim 1, characterized in that: During the current bulldozer operation, the system senses the surrounding environment of the current bulldozer, and when an obstacle is identified, it performs behavior planning to confirm whether to avoid it.

7. The unmanned bulldozer operation method according to claim 1 or 7, characterized in that: Currently, the bulldozer communicates with other equipment in the construction area and accepts the dispatch of the control end together.

8. An unmanned bulldozer operation system, characterized in that: include: The environment map acquisition module is configured to: acquire an environment map of the current bulldozer construction area; A path planning module is configured to: perform target task planning based on the environment map, and perform path planning in the construction area according to the target task planning; The execution module is configured to: control the current bulldozer operation according to the path planning; The information collection module is configured to: collect environmental information of the construction area in real time during the current bulldozer operation; The mapping module is configured to: after the current bulldozer operation is completed, use the real-time collected environmental information of the construction area to perform scene mapping to obtain an updated environmental map of the construction area for subsequent bulldozer operations.

9. A bulldozer, characterized in that: The invention comprises a radar, a processor and a memory, wherein the radar is used to collect environmental information of a construction area in real time, and the memory stores computer instructions. When the computer instructions are executed by the processor, the bulldozer executes the unmanned bulldozer operation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the unmanned bulldozer operation method according to any one of claims 1 to 7.

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