Indoor material pushing and raking method and device

Abstract

The invention is suitable for the technical field of bulldozing and raking machines, and provides an indoor material bulldozing and raking method and device. In the embodiment of the invention, the control center determines the point cloud data of each material pile in the target area through the laser radar, then determines the distance between the bulldozer and the material piles through the laser radar, and controls the bulldozer to move to the position of each material pile to carry out raking and coal shoveling. And when the bulldozing times in a certain direction reach a threshold value, the direction of the bulldozing machine is adjusted to perform bulldozing and coal shoveling again. According to the method, the pushing and raking work in the target area can be completed without determining the pose of the pushing and raking machine, so that the problem that the pushing and raking work cannot be completed due to the fact that positioning is not easy to accurately obtain due to too high accumulation of coal piles in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the technical field of push-raking machines, and in particular to a method and device for pushing and raking indoor materials. Background Art

[0002] The coal acquisition process of many domestic thermal power plants is generally that the coal is first transported to the dock by a coal carrier, and then the coal in the cabin of the coal carrier is gradually grabbed by a grab ship unloader, and then the grabbed coal is unloaded onto a belt conveyor, and the coal is transported to a warehouse via the belt conveyor for storage, so as to facilitate subsequent thermal power generation. However, due to the limitation of the grabbing range of the ship unloader itself, it can generally only grab the coal in the middle area of ​​the cabin, and cannot grab the coal that is attached to the bulkheads around the cabin. For this reason, it is generally necessary to use a pusher and rake in the cabin to push and rake the remaining coal around the bulkhead to the center of the cabin, and then the ship unloader performs a second grab, so that the remaining coal in the cabin can be grabbed cleanly.

[0003] The pusher used to push and rake coal in the ship's hold generally requires manual operation. The pusher driver often needs to work hard for several hours in a tight time to rake the coal in a hold clean. In addition, due to the complex and harsh environment in the hold, a large amount of coal dust is filled in the air. Long-term operation can easily cause serious damage to the body of the pusher driver.

[0004] In order to solve the various problems of manual operation of the pusher and rake in the cabin, a fully automatic operation system for pushing and raking coal in the cabin can be designed. By automating the pusher and rake, the unmanned operation of the pusher and rake in the closed cabin environment can be realized. According to the set pushing and raking process, the coal around the cabin is gradually pushed and raked to the center of the cabin, which is convenient for the unloader to grab. However, this method requires real-time determination of the position of the pusher and rake. Due to the existence of the coal repose angle, it is easy to pile up extremely high coal around the bulkhead. Then the accumulated coal will cause the laser to be unable to hit the bulkhead. At this time, the laser cannot calculate the real-time positioning by scanning the bulkhead and matching with the map, which is easy to cause inaccurate laser positioning. Summary of the invention

[0005] In view of this, the present application provides an indoor material pushing and raking method and device, which can ensure that the pushing and raking machine can still complete the fully automatic coal pushing and raking operation task in a closed cabin when the global positioning posture cannot be obtained, so as to solve the problem that the positioning is difficult to obtain accurately due to the excessive accumulation of coal in the cabin.

[0006] In a first aspect, the present application provides an indoor material pushing and raking method, which is applied to a control center, wherein the control center is connected to a pushing and raking machine, and the pushing and raking machine is provided with a laser radar, and the laser radar is used to obtain point cloud data of each material pile and a wall, and the point cloud data is used to determine the distance between the pushing and raking machine and the wall and each material pile; the method comprises:

[0007] When it is detected that the pusher and rake machine is at the target position, the target material pile is determined by the point cloud data of each material pile in front of the pusher and rake machine;

[0008] Controlling the pusher to move forward, and monitoring the distance between the pusher and surrounding walls in real time, and stopping the pusher when the pusher reaches the position of the target material pile;

[0009] Control the pusher to rake coal downward, and then control the pusher to retreat after a preset condition is met. When the pusher is retreated to the target position, the distance between the pusher and the surrounding walls is determined, and the number of pushes in the current direction is recorded and it is determined whether the number of pushes reaches a threshold. If it does not reach a threshold, the pusher moves forward again according to the current direction;

[0010] When the number of pushing and raking times reaches a threshold, the pusher is rotated clockwise by a fixed angle and pushes and raks forward according to the direction after rotation. When the number of pushing and raking times in the direction after rotation reaches a threshold, the pusher is rotated clockwise by a fixed angle again for pushing and raking, and pushing and raking ends when the number of rotations of the pusher reaches a preset value.

[0011] Optionally, the real-time monitoring of the distance between the pusher and surrounding walls includes:

[0012] Determine the position of the control center point of the pusher and rake machine, and scan the surrounding area of ​​the pusher and rake machine by the laser radar to obtain initial point cloud data;

[0013] Determine the point cloud data with a height higher than a threshold height h_wall in the initial point cloud data as a wall, thereby determining the positions of the walls in the areas directly in front of, directly behind, directly to the left of, and directly to the right of the pusher;

[0014] The positions of the walls in the front, rear, left and right areas are compared with the control center point of the pusher and rake to determine the distance s_wall_front between the wall in the front area and the pusher and rake, the distance s_wall_back between the wall in the rear area and the pusher and rake, the distance s_wall_left between the wall in the left area and the pusher and rake, and the distance s_wall_right between the wall in the right area and the pusher and rake.

[0015] Optionally, determining that the pusher rake moves to a position of the target material pile includes:

[0016] Determine the position of the control center point of the pusher and rake machine, and determine the distance s_coal between the target material pile and the control center point;

[0017] Scanning the front of the push-rake machine with the laser radar to obtain front point cloud data, determining point cloud data with a height higher than a threshold height h_wall in the front point cloud data as a wall in the front area, and determining a distance s_wall_front between the wall in the front area and the control center point;

[0018] Determine the distance s_coal_wall between the target material pile and the wall in the front area by using s_coal and s_wall_front;

[0019] The pusher is controlled to move forward, and the distance s_wall_front between the pusher and the wall in the front area is calculated and updated in real time. When s_wall_front=s_coal_wall, it is determined that the pusher moves to the position of the target material pile.

[0020] Optionally, determining that the pusher-rake machine retreats to the target position by measuring the distance between the pusher-rake machine and surrounding walls includes:

[0021] When the push-rake machine is at the target position, determining the position of the control center point of the push-rake machine;

[0022] Scanning the surrounding area of ​​the push rake by laser radar to determine and record the initial distance between the control center point and the surrounding walls;

[0023] When the pusher is controlled to move backward, the real-time distance between the control center point and the surrounding walls is determined, the initial distance is compared with the real-time distance, and the pusher is determined to move to the target position based on the comparison result.

[0024] Optionally, it is characterized in that the pusher is provided with an inclination sensor, and the step of rotating the pusher clockwise to a fixed angle comprises:

[0025] The heading angle theta_start on the tilt sensor is recorded, and after the rotation starts, the magnitude of the heading angle theta_current of the tilt sensor is continuously detected, and when the difference between theta_start and theta_current is equal to the fixed angle, it is determined that the rotation is completed.

[0026] A second aspect of the present application provides an indoor material pusher and rake device, which is applied to a control center, wherein the control center is connected to a pusher and rake machine, and the pusher and rake machine is provided with a laser radar, and the laser radar is used to obtain point cloud data of each material pile and wall, and the point cloud data is used to determine the distance between the pusher and rake machine and the wall and each material pile; the device comprises:

[0027] A material pile determination unit is used to determine a target material pile through point cloud data of each material pile in front of the pusher and rake when the pusher and rake is detected to be at a target position;

[0028] A traveling unit, used for controlling the pusher to move forward, and monitoring the distance between the pusher and surrounding walls in real time, and stopping the pusher when the pusher reaches the position of the target material pile;

[0029] A retreat unit is used to control the pusher to rake coal downwards, and then control the pusher to retreat after a preset condition is met. When the pusher is retreated to the target position, the distance between the pusher and the surrounding walls is determined, and the number of pushes in the current direction is recorded and it is determined whether the number of pushes reaches a threshold. If it does not reach a threshold, the pusher moves forward again according to the current direction;

[0030] The rotation unit is used to rotate the pusher and rake machine clockwise by a fixed angle when the number of push and rake times reaches a threshold value, and to push and rake forward according to the rotated direction, and to rotate the pusher and rake machine clockwise by a fixed angle again to push and rake when the number of push and rake times in the rotated direction reaches a threshold value, and to end the push and rake when the number of rotations of the pusher and rake machine reaches a preset value.

[0031] Optionally, the real-time monitoring of the distance between the pusher and surrounding walls in the traveling unit includes:

[0032] Determine the position of the control center point of the pusher and rake machine, and scan the surrounding area of ​​the pusher and rake machine by the laser radar to obtain initial point cloud data;

[0033] Determine the point cloud data with a height higher than a threshold height h_wall in the initial point cloud data as a wall, thereby determining the positions of the walls in the areas directly in front of, directly behind, directly to the left of, and directly to the right of the pusher;

[0034] The positions of the walls in the front, rear, left and right areas are compared with the control center point of the pusher and rake to determine the distance s_wall_front between the wall in the front area and the pusher and rake, the distance s_wall_back between the wall in the rear area and the pusher and rake, the distance s_wall_left between the wall in the left area and the pusher and rake, and the distance s_wall_right between the wall in the right area and the pusher and rake.

[0035] Optionally, the step of determining in the traveling unit that the pusher rake travels to the position of the target material pile includes:

[0036] Determine the position of the control center point of the pusher and rake machine, and determine the distance s_coal between the target material pile and the control center point;

[0037] Scanning the front of the push-rake machine with the laser radar to obtain front point cloud data, determining point cloud data with a height higher than a threshold height h_wall in the front point cloud data as a wall in the front area, and determining a distance s_wall_front between the wall in the front area and the control center point;

[0038] Determine the distance s_coal_wall between the target material pile and the wall in the front area by using s_coal and s_wall_front;

[0039] The pusher is controlled to move forward, and the distance s_wall_front between the pusher and the wall in the front area is calculated and updated in real time. When s_wall_front=s_coal_wall, it is determined that the pusher moves to the position of the target material pile.

[0040] Optionally, the retreat unit determines that the pusher and rake machine retreats to the target position according to the distance between the pusher and rake machine and surrounding walls, including:

[0041] When the push-rake machine is at the target position, determining the position of the control center point of the push-rake machine;

[0042] Scanning the surrounding area of ​​the push rake by laser radar to determine and record the initial distance between the control center point and the surrounding walls;

[0043] When the pusher is controlled to move backward, the real-time distance between the control center point and the surrounding walls is determined, the initial distance is compared with the real-time distance, and the pusher is determined to move to the target position based on the comparison result.

[0044] Optionally, the pusher is provided with an inclination sensor, and the rotation unit rotates the pusher clockwise at a fixed angle including:

[0045] The heading angle theta_start on the tilt sensor is recorded, and after the rotation starts, the magnitude of the heading angle theta_current of the tilt sensor is continuously detected, and when the difference between theta_start and theta_current is equal to the fixed angle, it is determined that the rotation is completed.

[0046] In the embodiment provided by the present application, the control center first determines the point cloud data of each material pile in the target area through the laser radar, and then determines the distance between the pusher and the material pile through the laser radar and controls the pusher to move to the position of each material pile and then rake the coal. And when the number of pushes and raks in a certain direction reaches a threshold, the direction of the pusher is adjusted to push and rake the coal again. The present application does not need to determine the position of the pusher to complete the push work in the target area, which solves the existing problem that the push work cannot be completed due to the high accumulation of coal piles, which makes it difficult to accurately obtain the positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A flow chart of the method provided in the embodiment of the present application;

[0048] Figure 2 A schematic diagram of a single recognition result of a push-rake machine provided in an embodiment of the present application;

[0049] Figure 3 A schematic diagram of a multi-directional pushing and raking machine provided in an embodiment of the present application;

[0050] Figure 4 This is a diagram of the device structure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0052] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0053] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0054] The present application provides an indoor material pushing and raking method and device, so as to provide a method for completing automatic material pushing and raking operations without the need to determine the position of the pushing and raking machine.

[0055] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0056] like Figure 1 As shown, it is a flow chart of an indoor material pushing and raking method provided by the present application, and the method is applied to a control center. The control center is connected to a pusher and rake machine, and is used to send various instructions to the pusher and rake machine, such as movement instructions in various directions, rotation instructions, rake and shovel coal instructions, etc. The pusher and rake machine is provided with a laser radar, and the laser radar is used to obtain point cloud data of each material pile and wall, and the point cloud data is used to determine the distance between the pusher and rake machine and the wall and each material pile.

[0057] The process may include the following steps:

[0058] Step S101, when it is detected that the pusher and rake machine is at a target position, a target material pile is determined through point cloud data of each material pile in front of the pusher and rake machine.

[0059] In this embodiment, a sensing device, such as a gravity sensing device, can be installed below the target position. When the pusher is at the target position, the gravity sensing device below can send pusher location information to the control center to notify the control center that the pusher is already at the target position and can proceed to the next step.

[0060] It is also possible to install a camera around the target location to monitor the target location in real time. When the pusher is detected at the target location in the shooting picture, the pusher is in place information is sent to the control center.

[0061] In this embodiment, the target position may be the central position within the target area where the pushing and raking work is required, so that the working distance of the pushing and raking machine in all directions is closer, thereby improving work efficiency; the target position may also be any area within the working area, which is not limited in this application.

[0062] When the pusher is at the target position, the control radar on the pusher scans the front to determine the point cloud data of several material piles in front. Then, the position of a material pile that is higher than the preset height threshold h_coal and closest to the front of the pusher is selected from the point cloud data. The distance between the material pile and the vehicle control center point is s_coal.

[0063] Step S102, controlling the pusher to move forward, and monitoring the distance between the pusher and surrounding walls in real time, and stopping the pusher when it is determined that the pusher reaches the position of the target material pile.

[0064] In this embodiment, the distance between the pusher and the surrounding walls can be determined in real time by a camera device or a distance sensing device. When the distance between the pusher and a wall is less than a set threshold, the pusher is controlled to automatically stop moving and return to the target position.

[0065] As for the position of the target material pile, after the control center determines the position of the target material pile through the laser radar, the position can be sent to the camera device, and the position can be monitored in real time through the camera device. When it is determined that the pusher and rake machine has reached this position, information is sent to the control center so that the pusher and rake machine can be controlled to stop through the control center.

[0066] In another embodiment, the real-time monitoring of the distance between the push rake and surrounding walls includes:

[0067] Determine the position of the control center point of the pusher and rake machine, and scan the surrounding area of ​​the pusher and rake machine by the laser radar to obtain initial point cloud data;

[0068] Determine the point cloud data with a height higher than a threshold height h_wall in the initial point cloud data as a wall, thereby determining the positions of the walls in the areas directly in front of, directly behind, directly to the left of, and directly to the right of the pusher;

[0069] The positions of the walls in the front, rear, left and right areas are compared with the control center point of the pusher, and the distance s_wall_front between the wall in the front area and the pusher, s_wall_back between the wall in the rear area and the pusher, s_wall_left between the wall in the left area and the pusher, and s_wall_right between the wall in the right area and the pusher, are determined, such as Figure 2 shown.

[0070] In this embodiment, the world coordinate system can be constructed first, and then the position of the surrounding walls and the position of the control center of the pusher can be determined by the laser radar. Here, the point cloud data with a height higher than the preset threshold h_wall in the scanned point cloud data can be determined as a wall, and the distance between the control center and the surrounding walls can be calculated in real time during the operation of the pusher. In addition, the obstacle avoidance trigger threshold s_wall_min can be set, and the real-time distance between the pusher control center and the surrounding walls is s_wall_front, s_wall_back, s_wall_left, s_wall_right. If a value is less than or equal to the obstacle avoidance trigger threshold s_wall_min, it means that one side of the pusher will be in danger of colliding with the bulkhead. At this time, the pusher will stop moving immediately and return to the center of the cabin.

[0071] In another embodiment, determining that the pusher rake travels to the position of the target material pile includes:

[0072] When the pusher-rake machine is at the target position, determining the position of the control center point of the pusher-rake machine and the distance s_coal between the target material pile and the control center point;

[0073] Scanning the front of the push-rake machine with the laser radar to obtain front point cloud data, determining point cloud data with a height higher than a threshold height h_wall in the front point cloud data as a wall in the front area, and determining a distance s_wall_front between the wall in the front area and the control center point;

[0074] The distance s_coal_wall between the target material pile and the wall in the front area is determined by s_coal and s_wall_front, such as Figure 2 As shown;

[0075] The pusher is controlled to move forward, and the distance s_wall_front between the pusher and the wall in the front area is calculated and updated in real time. When s_wall_front=s_coal_wall, it is determined that the pusher moves to the position of the target material pile.

[0076] Step S103, control the pusher to rake coal downward, and then control the pusher to retreat after the preset conditions are met. When the pusher retreats to the target position by determining the distance between the pusher and the surrounding walls, record the number of pushes in the current direction and determine whether the number of pushes reaches a threshold. If not, push forward again according to the current direction.

[0077] In this embodiment, the control center records the number of times the pusher rake machine pushes and raks in a certain direction. If the number of times the pusher rake machine pushes and raks in this direction is less than the threshold value rake_times of the number of times the pusher rake machine pushes and raks in a single direction, the pusher rake machine will not change its vehicle body direction, and will initiate the next recognition instruction while maintaining the vehicle body direction, and continue to push and rake in this direction. If the number of times the pusher rake machine pushes and raks in a single direction exceeds the threshold value, step S104 is executed.

[0078] In another embodiment, determining that the pusher and rake machine retreats to the target position based on the distance between the pusher and the surrounding walls includes:

[0079] When the push-rake machine is at the target position, determining the position of the control center point of the push-rake machine;

[0080] Scanning the surrounding area of ​​the push rake by laser radar to determine and record the initial distance between the control center point and the surrounding walls;

[0081] When the pusher is controlled to move backward, the real-time distance between the control center point and the surrounding walls is determined, the initial distance is compared with the real-time distance, and the pusher is determined to move to the target position based on the comparison result.

[0082] For example, when the pusher is at the target position, the initial distance between the control center and the surrounding walls is {front: 1.8; back: 2; left: 2; right: 1.5}. When the pusher moves backward, the distance between the control center and the surrounding walls is determined in real time. For example, when the distance is {front: 1.8; back: 2; left: 3; right: 0.4}, it is determined by comparison that the pusher needs to move to the right to return to the target position.

[0083] Step S104, when the number of pushing and raking reaches a threshold, the pusher is rotated clockwise by a fixed angle, and pushes and raks forward according to the rotated direction, and when the number of pushing and raking in the rotated direction reaches a threshold, the pusher is rotated clockwise by a fixed angle again for pushing and raking, and pushing and raking ends when the number of rotations of the pusher reaches a preset value.

[0084] In this embodiment, taking a fixed angle of 60 degrees as an example, after returning to the central position, the pusher will rotate 60 degrees clockwise on the spot and identify the target material pile in this direction again. Figure 3 If the target material pile is not found, the machine will continue to rotate 60 degrees and identify the target material pile again.

[0085] When determining the rotation angle, a fixed rotation speed can be set for the push rake, and then by calculating the rotation time, it can be determined whether it has rotated to the fixed angle.

[0086] In another embodiment, the pusher rake is provided with an inclination sensor, and rotating the pusher rake clockwise by a fixed angle comprises:

[0087] The heading angle theta_start on the tilt sensor is recorded, and after the rotation starts, the magnitude of the heading angle theta_current of the tilt sensor is continuously detected, and when the difference between theta_start and theta_current is equal to the fixed angle, it is determined that the rotation is completed.

[0088] In this embodiment, in order to enable the push rake to accurately rotate 60 degrees without positioning, the chassis module will record the heading angle theta_start on the inclination sensor at the moment when it starts to rotate, and after starting to rotate, it will continue to detect the size of the heading angle theta_current of the inclination sensor. Once theta_current satisfies theta_current-theta_start≥60 degrees, it means that the push rake has rotated at least 60 degrees, and the chassis will stop rotating immediately.

[0089] According to this method, the push and rake machine will push and rake in 60-degree clockwise directions. At the same time, the control center can detect how many directions the push and rake machine has pushed and rake in total. If a total of 6 directions have been pushed and rakeed, it means that the push and rake machine has completed a round of pushing and rake in 360-degree directions around the target area.

[0090] In this embodiment, the above-mentioned inclination sensor can be a BW-VG225E inclination sensor produced by BEIWEI, which can measure 3-axis acceleration and 3-axis angle relative to the horizontal plane. By using the roll angle and pitch angle provided by the inclination sensor, the point cloud data determined by the laser radar in each of the above steps can be converted to the horizontal plane, thereby ensuring the accuracy of the subsequent laser recognition of the coal pile and the bulkhead.

[0091] So far, completed Figure 1 The process shown.

[0092] In the embodiment of the present application, the control center first determines the point cloud data of each material pile in the target area through the laser radar, and then determines the distance between the pusher and the material pile through the laser radar and controls the pusher to move to the position of each material pile and then rake the coal. And when the number of pushes in a certain direction reaches a threshold, the direction of the pusher is adjusted to push and rake the coal again. The present application does not need to determine the position of the pusher to complete the push work in the target area, which solves the existing problem that the push work cannot be completed due to the high accumulation of coal piles, which makes it difficult to accurately obtain the positioning.

[0093] like Figure 4As shown, the present application also provides an indoor material pusher and rake device, which is applied to a control center, the control center is connected to a pusher and rake machine, the pusher and rake machine is provided with a laser radar, the laser radar is used to obtain point cloud data of each material pile and wall, and the point cloud data is used to determine the distance between the pusher and rake machine and the wall and each material pile; the device includes:

[0094] The material pile determination unit 401 is used to determine the target material pile through the point cloud data of each material pile in front of the pusher when the pusher is detected to be at the target position;

[0095] A moving unit 402 is used to control the pusher to move forward, and monitor the distance between the pusher and surrounding walls in real time, and to determine that the pusher stops moving when the pusher reaches the location of the target material pile;

[0096] The backward unit 403 is used to control the pusher to rake coal downwards, and then control the pusher to retreat after a preset condition is met. When the pusher retreats to the target position, the distance between the pusher and the surrounding walls is determined, and the number of pushes in the current direction is recorded and it is determined whether the number of pushes reaches a threshold. If it does not reach a threshold, the pusher moves forward again according to the current direction;

[0097] The rotation unit 404 is used to rotate the pusher and rake machine clockwise by a fixed angle when the number of push and rake times reaches a threshold value, and to push and rake forward according to the rotated direction, and to rotate the pusher and rake machine clockwise by a fixed angle again to push and rake when the number of push and rake times in the rotated direction reaches a threshold value, and push and rake is terminated when the number of rotations of the pusher and rake machine reaches a preset value.

[0098] In another embodiment, the real-time monitoring of the distance between the pusher and surrounding walls in the traveling unit includes:

[0099] Determine the position of the control center point of the pusher and rake machine, and scan the surrounding area of ​​the pusher and rake machine by the laser radar to obtain initial point cloud data;

[0100] Determine the point cloud data with a height higher than a threshold height h_wall in the initial point cloud data as a wall, thereby determining the positions of the walls in the areas directly in front of, directly behind, directly to the left of, and directly to the right of the pusher;

[0101] The positions of the walls in the front, rear, left and right areas are compared with the control center point of the pusher and rake to determine the distance s_wall_front between the wall in the front area and the pusher and rake, the distance s_wall_back between the wall in the rear area and the pusher and rake, the distance s_wall_left between the wall in the left area and the pusher and rake, and the distance s_wall_right between the wall in the right area and the pusher and rake.

[0102] In another embodiment, the traveling unit determines that the pusher rake travels to the position of the target material pile, including:

[0103] Determine the position of the control center point of the pusher and rake machine, and determine the distance s_coal between the target material pile and the control center point;

[0104] Scanning the front of the push-rake machine with the laser radar to obtain front point cloud data, determining point cloud data with a height higher than a threshold height h_wall in the front point cloud data as a wall in the front area, and determining a distance s_wall_front between the wall in the front area and the control center point;

[0105] Determine the distance s_coal_wall between the target material pile and the wall in the front area by using s_coal and s_wall_front;

[0106] The pusher is controlled to move forward, and the distance s_wall_front between the pusher and the wall in the front area is calculated and updated in real time. When s_wall_front=s_coal_wall, it is determined that the pusher moves to the position of the target material pile.

[0107] In another embodiment, the retreat unit determines that the pusher and rake machine retreats to the target position according to the distance between the pusher and rake machine and surrounding walls, including:

[0108] When the push-rake machine is at the target position, determining the position of the control center point of the push-rake machine;

[0109] Scanning the surrounding area of ​​the push rake by laser radar to determine and record the initial distance between the control center point and the surrounding walls;

[0110] When the pusher is controlled to move backward, the real-time distance between the control center point and the surrounding walls is determined, the initial distance is compared with the real-time distance, and the pusher is determined to move to the target position based on the comparison result.

[0111] In another embodiment, the pusher is provided with an inclination sensor, and the rotation unit rotates the pusher clockwise by a fixed angle comprises:

[0112] The heading angle theta_start on the tilt sensor is recorded, and after the rotation starts, the magnitude of the heading angle theta_current of the tilt sensor is continuously detected, and when the difference between theta_start and theta_current is equal to the fixed angle, it is determined that the rotation is completed.

[0113] The above embodiment of the present invention provides an indoor material pushing and raking method, and based on the method provides an indoor material pushing and raking device. Through the above method and device, the material pushing and raking operation can be automatically completed without the need to determine the pusher and rake machine posture in real time.

[0114] This embodiment further discloses a computer device, which includes a processor and a memory, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement any of the indoor material pushing and raking methods described above.

[0115] In addition, in the implementation of the indoor material pushing and raking device in the above-mentioned example, the logical division of each program module is only an example. In actual application, the above-mentioned functions can be assigned to different program modules as needed, for example, for the configuration requirements of the corresponding hardware or the convenience of software implementation. That is, the internal structure of the indoor material pushing and raking device is divided into different program modules to complete all or part of the functions described above.

[0116] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for pushing and raking indoor materials, characterized in that: The method is applied to a control center, the control center is connected to a pusher, the pusher is provided with a laser radar, the laser radar is used to obtain point cloud data of each material pile and a wall, and the point cloud data is used to determine the distance between the pusher and the wall and each material pile; the method comprises: When it is detected that the pusher and rake machine is at the target position, the target material pile is determined by the point cloud data of each material pile in front of the pusher and rake machine; Controlling the pusher to move forward, and monitoring the distance between the pusher and surrounding walls in real time, and stopping the pusher when the pusher reaches the position of the target material pile; Control the pusher to rake coal downward, and then control the pusher to retreat after a preset condition is met. When the pusher is retreated to the target position, the distance between the pusher and the surrounding walls is determined, and the number of pushes in the current direction is recorded and it is determined whether the number of pushes reaches a threshold. If it does not reach a threshold, the pusher moves forward again according to the current direction; When the number of pushing and raking times reaches a threshold, the pusher is rotated clockwise by a fixed angle and pushes and raks forward according to the direction after rotation. When the number of pushing and raking times in the direction after rotation reaches a threshold, the pusher is rotated clockwise by a fixed angle again for pushing and raking, and pushing and raking ends when the number of rotations of the pusher reaches a preset value.

2. The method according to claim 1, characterized in that The real-time monitoring of the distance between the pusher and the surrounding walls includes: Determine the position of the control center point of the pusher and rake machine, and scan the surrounding area of ​​the pusher and rake machine by the laser radar to obtain initial point cloud data; Determine the point cloud data with a height higher than a threshold height h_wall in the initial point cloud data as a wall, thereby determining the position of the wall in the area directly in front of, directly behind, directly to the left of, and directly to the right of the pusher; The positions of the walls in the front, rear, left and right areas are compared with the control center point of the pusher and rake to determine the distance s_wall_front between the wall in the front area and the pusher and rake, the distance s_wall_back between the wall in the rear area and the pusher and rake, the distance s_wall_left between the wall in the left area and the pusher and rake, and the distance s_wall_right between the wall in the right area and the pusher and rake.

3. The method according to claim 1, characterized in that The step of determining that the pusher rake machine travels to the position of the target material pile includes: Determine the position of the control center point of the pusher and rake machine, and determine the distance s_coal between the target material pile and the control center point; Scanning the front of the push-rake machine with the laser radar to obtain front point cloud data, determining point cloud data with a height higher than a threshold height h_wall in the front point cloud data as a wall in the front area, and determining a distance s_wall_front between the wall in the front area and the control center point; Determine the distance s_coal_wall between the target material pile and the wall in the front area by using s_coal and s_wall_front; The pusher is controlled to move forward, and the distance s_wall_front between the pusher and the wall in the front area is calculated and updated in real time. When s_wall_front=s_coal_wall, it is determined that the pusher moves to the position of the target material pile.

4. The method according to claim 1, characterized in that Determining that the pusher and rake machine retreats to the target position according to the distance between the pusher and rake machine and surrounding walls includes: When the push-rake machine is at the target position, determining the position of the control center point of the push-rake machine; Scanning the surrounding area of ​​the push rake by laser radar to determine and record the initial distance between the control center point and the surrounding walls; When the pusher is controlled to move backward, the real-time distance between the control center point and the surrounding walls is determined, the initial distance is compared with the real-time distance, and the pusher is determined to move to the target position based on the comparison result.

5. The method according to claim 1, characterized in that The pusher rake is provided with an inclination sensor, and the step of rotating the pusher rake clockwise to a fixed angle comprises: The heading angle theta_start on the tilt sensor is recorded, and after the rotation starts, the magnitude of the heading angle theta_current of the tilt sensor is continuously detected, and when the difference between theta_start and theta_current is equal to the fixed angle, it is determined that the rotation is completed.

6. An indoor material pushing and raking device, characterized in that: Applied to a control center, the control center is connected to a pusher, the pusher is provided with a laser radar, the laser radar is used to obtain point cloud data of each material pile and wall, and the point cloud data is used to determine the distance between the pusher and the wall and each material pile; the device comprises: A material pile determination unit is used to determine a target material pile through point cloud data of each material pile in front of the pusher and rake when the pusher and rake is detected to be at a target position; A traveling unit, used for controlling the pusher to move forward, and monitoring the distance between the pusher and surrounding walls in real time, and stopping the pusher when the pusher reaches the position of the target material pile; A retreat unit is used to control the pusher to rake coal downwards, and then control the pusher to retreat after a preset condition is met. When the pusher is retreated to the target position, the distance between the pusher and the surrounding walls is determined, and the number of pushes in the current direction is recorded and it is determined whether the number of pushes reaches a threshold. If it does not reach a threshold, the pusher moves forward again according to the current direction; The rotation unit is used to rotate the pusher and rake machine clockwise by a fixed angle when the number of push and rake times reaches a threshold value, and to push and rake forward according to the rotated direction, and to rotate the pusher and rake machine clockwise by a fixed angle again to push and rake when the number of push and rake times in the rotated direction reaches a threshold value, and to end the push and rake when the number of rotations of the pusher and rake machine reaches a preset value.

7. The device according to claim 6, characterized in that The real-time monitoring of the distance between the pusher and the surrounding walls in the traveling unit includes: Determine the position of the control center point of the pusher and rake machine, and scan the surrounding area of ​​the pusher and rake machine by the laser radar to obtain initial point cloud data; Determine the point cloud data with a height higher than a threshold height h_wall in the initial point cloud data as a wall, thereby determining the position of the wall in the area directly in front of, directly behind, directly to the left of, and directly to the right of the pusher; The positions of the walls in the front, rear, left and right areas are compared with the control center point of the pusher and rake to determine the distance s_wall_front between the wall in the front area and the pusher and rake, the distance s_wall_back between the wall in the rear area and the pusher and rake, the distance s_wall_left between the wall in the left area and the pusher and rake, and the distance s_wall_right between the wall in the right area and the pusher and rake.

8. The device according to claim 6, characterized in that The traveling unit determines that the pusher rake travels to the position of the target material pile, including: Determine the position of the control center point of the pusher and rake machine, and determine the distance s_coal between the target material pile and the control center point; Scanning the front of the push-rake machine with the laser radar to obtain front point cloud data, determining point cloud data with a height higher than a threshold height h_wall in the front point cloud data as a wall in the front area, and determining a distance s_wall_front between the wall in the front area and the control center point; Determine the distance s_coal_wall between the target material pile and the wall in the front area by using s_coal and s_wall_front; The pusher is controlled to move forward, and the distance s_wall_front between the pusher and the wall in the front area is calculated and updated in real time. When s_wall_front=s_coal_wall, it is determined that the pusher moves to the position of the target material pile.

9. The device according to claim 6, characterized in that The step of determining that the pusher and rake machine retreats to the target position according to the distance between the pusher and rake machine and surrounding walls in the retreat unit includes: When the push-rake machine is at the target position, determining the position of the control center point of the push-rake machine; Scanning the surrounding area of ​​the push rake by laser radar to determine and record the initial distance between the control center point and the surrounding walls; When the pusher is controlled to move backward, the real-time distance between the control center point and the surrounding walls is determined, the initial distance is compared with the real-time distance, and the pusher is determined to move to the target position based on the comparison result.

10. The device according to claim 6, characterized in that The pusher rake is provided with an inclination sensor, and the rotation unit rotates the pusher rake clockwise by a fixed angle, including: The heading angle theta_start on the tilt sensor is recorded, and after the rotation starts, the magnitude of the heading angle theta_current of the tilt sensor is continuously detected, and when the difference between theta_start and theta_current is equal to the fixed angle, it is determined that the rotation is completed.

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