Method of normalizing vehicle loading

Abstract

A method for standardizing vehicle loading comprises the steps that S1, point cloud data of the surface of a material in a container of a vehicle are obtained; s2, dividing the container into a plurality of interval blocks along a first direction, and fitting the point cloud data of the surface of the material in each interval block to obtain a height curve of the material in each interval block; according to the height curve of the material in each interval block, height information of the material in each interval block is obtained; s3, the heights of the materials in all the interval blocks are compared with the standard height range; and when the heights of the materials at some parts in the interval block are not within the standard height range, trimming the heights of the materials at the corresponding parts in the interval block. The method for standardizing the vehicle loading can standardize the loading capacity of the vehicle, not only is beneficial to improving the production efficiency and ensuring that the yield is rapidly completed, but also improves the safety of a mining area.

Description

Technical Field

[0001] The invention relates to the technical field of material transportation equipment, and in particular to a method for regulating vehicle loading. Background Art

[0002] With the promotion of intelligent mine construction, the field of intelligent mine unmanned driving based on 5G technology has developed rapidly. As an important part of mine production, the loading capacity assessment of mining trucks is of great significance to mine production planning and safe and efficient operation.

[0003] However, in most mining operations, there are no specific and standardized constraints and instructions on the loading of mining trucks (such as requirements and restrictions on the weight and height of mining trucks), and there are currently no suitable technologies and methods to monitor and regulate the loading of mining trucks, which will not only affect the efficiency of mining, but also cause safety hazards. Summary of the invention

[0004] The purpose of the present invention is to provide a method for standardizing vehicle loading, which can standardize the loading amount of the vehicle, which is not only conducive to improving production efficiency and ensuring rapid completion of production, but also improves the safety of the mining area.

[0005] The present invention provides a method for regulating vehicle loading, comprising:

[0006] S1. Obtaining point cloud data of the surface of materials in the cargo box of the vehicle;

[0007] S2, dividing the cargo box into a plurality of interval blocks along the first direction, fitting the point cloud data of the material surface in each interval block to obtain a height curve of the material in each interval block; and obtaining height information of the material in each interval block according to the height curve of the material in each interval block;

[0008] S3, comparing the height of the material in each of the interval blocks with the standard height range; when the height of the material at some parts of the interval block is not within the standard height range, trimming the height of the material at the corresponding part of the interval block.

[0009] In one achievable manner, the first direction is the head-to-tail direction or the width direction of the goods.

[0010] In one achievable manner, in the above step S3, when the height of the material at certain parts in the interval block is not within the standard height range, the height of the material at the corresponding parts in the interval block is trimmed, specifically including:

[0011] When the height of the material at some parts in the interval block is greater than the upper limit of the standard height range, the height of the material at the corresponding parts in the interval block is lowered;

[0012] When the height of the material at certain positions within the interval block is less than the lower limit of the standard height range, the material at the corresponding positions within the interval block is filled.

[0013] In an achievable manner, the above step S3 further includes: feeding back the height information of the materials in each of the interval blocks to the material loading and unloading equipment;

[0014] When the height of materials at certain positions within the interval block is not within the standard height range, the height of materials at corresponding positions within the interval block is trimmed by the material handling equipment based on the height information of the materials in each interval block.

[0015] In one achievable manner, the method for regulating vehicle loading further includes:

[0016] S4. Calculate the volume of the materials in each of the interval blocks according to the height curve of the materials in each of the interval blocks; calculate the total weight of the materials in the cargo box according to the volume of the materials in each of the interval blocks;

[0017] S5. Compare the total weight of the materials in the cargo box with a standard weight range; when the total weight of the materials in the cargo box is not within the standard weight range, adjust the materials in the cargo box.

[0018] In one achievable manner, in the above step S5, when the total weight of the materials in the cargo box is not within the standard weight range, adjusting the materials in the cargo box specifically includes:

[0019] When the total weight of the materials in the cargo box is greater than the upper limit of the standard weight range, part of the materials in the cargo box are unloaded;

[0020] When the total weight of the materials in the cargo box is less than the lower limit of the standard weight range, the materials are replenished in the cargo box.

[0021] In an achievable manner, the above step S5 further includes: feeding back the total weight of the materials in the cargo box to the material loading and unloading equipment;

[0022] When the total weight of the materials in the cargo box is not within the standard weight range, the materials in the cargo box are adjusted by the material handling equipment based on the total weight of the materials in the cargo box.

[0023] In one achievable manner, the method for regulating vehicle loading further includes:

[0024] S6. Feedback the total weight of the materials in the cargo box to the control terminal of the vehicle and / or the second display terminal, so as to control the acceleration of the vehicle when starting and going uphill and the deceleration of the vehicle when going downhill according to the total weight of the materials in the cargo box.

[0025] In one achievable manner, in the above step S2, dividing the cargo box into a plurality of the interval blocks along the first direction specifically includes:

[0026] The cargo box is uniformly cut along the first direction with a cutting plane perpendicular to the bottom surface of the cargo box to obtain a plurality of three-dimensional interval blocks, and the size of each interval block along the first direction is k.

[0027] In one achievable manner, the above step S4 specifically includes:

[0028] According to the height curve of the material in each of the interval blocks, the cross-sectional area S of the material in each of the interval blocks is calculated;

[0029] According to the cross-sectional area S of the material in each of the interval blocks, the volume V of the material in each of the interval blocks is calculated; wherein V=S*k;

[0030] According to the volume V of the material in each of the interval blocks, the sum of the volumes V of the materials in all the interval blocks is calculated to obtain the total volume V of the material in the cargo box. 总 ;

[0031] According to the total volume V of the material in the cargo box 总 , calculate the total weight M of the materials in the cargo box; where M = V 总 *ρ, ρ is the average density of the material in the cargo box.

[0032] In one achievable manner, the first direction is the fore-aft direction of the cargo box; in the above step S4, the method for calculating the cross-sectional area S of the material in the interval block specifically includes:

[0033] Establish a cross-sectional coordinate system of the material in the interval block, wherein the x-axis of the cross-sectional coordinate system is parallel to the width direction of the cargo box, the y-axis of the cross-sectional coordinate system is parallel to the height direction of the cargo box, and the head-to-tail direction, the width direction, and the height direction are perpendicular to each other;

[0034] According to the formula The cross-sectional area S of the material in the interval block is calculated; wherein f(x) is the function expression of the height curve of the material in the interval block in the cross-sectional coordinate system, and w is the width of the cargo box.

[0035] In one achievable manner, the first direction is the width direction of the cargo box; in the above step S4, the method for calculating the cross-sectional area S of the material in the interval block specifically includes:

[0036] A longitudinal section coordinate system of the material in the interval block is established, wherein the x-axis of the longitudinal section coordinate system is parallel to the fore-and-aft direction of the cargo box, the y-axis of the longitudinal section coordinate system is parallel to the height direction of the cargo box, and the fore-and-aft direction, the width direction, and the height direction are mutually perpendicular in pairs;

[0037] According to the formula The cross-sectional area S of the material in the interval block is calculated; wherein f(x) is the function expression of the height curve of the material in the interval block in the longitudinal section coordinate system, and a is the length of the cargo box.

[0038] In one achievable manner, the above step S1 specifically includes:

[0039] The point cloud data of the cargo box when empty and the point cloud data of the cargo box when loaded with materials are respectively obtained, and the point cloud data of the cargo box when empty and the point cloud data of the cargo box when loaded with materials are fused to obtain the point cloud data of the surface of the materials in the cargo box.

[0040] In one achievable manner, in the above step S1, before fusing the point cloud data when the cargo box is empty with the point cloud data when the cargo box is loaded with materials, downsampling is first performed on the point cloud data when the cargo box is loaded with materials and / or the point cloud data when the cargo box is empty;

[0041] And / or, after obtaining the point cloud data of the surface of the material in the cargo box, downsampling processing is further performed on the point cloud data of the surface of the material in the cargo box.

[0042] In one feasible manner, in the above step S1, a laser radar is arranged on the vehicle, and the laser radar is used to scan the cargo box when it is empty and the cargo box when it is loaded with materials, so as to obtain point cloud data of the cargo box when it is empty and point cloud data of the cargo box when it is loaded with materials, respectively.

[0043] The method for standardizing vehicle loading provided by the present invention divides the cargo box into multiple interval blocks, fits the point cloud data of the material surface in each interval block, obtains the height curve of the material in each interval block, and obtains the height information of the material in each interval block. By comparing the height of the material in each interval block with the standard height range, it is judged whether the loading height of the material in the cargo box meets the specification; when the height of the material in some parts of the interval block is not within the standard height range, the height of the material in the corresponding part of the interval block is trimmed so that the height of the material in each part of the interval block is within the standard height range. In this way, on the one hand, it can avoid the loading height of the material in the cargo box being too high, thereby avoiding the danger caused by the material shaking and falling during the driving of the vehicle; on the other hand, it can avoid the loading height of the material in the cargo box being too low, so as to improve the space utilization rate of the cargo box, thereby improving the operation efficiency. The method for standardizing vehicle loading can standardize the loading amount of the vehicle, which is not only conducive to improving production efficiency and ensuring the rapid completion of production, but also improves the safety of the mining area. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 FIG. 4 is a side view of a vehicle in an embodiment of the present invention.

[0045] Figure 2 for Figure 1 Top view of the .

[0046] Figure 3 1 is a top view of a cargo box in an embodiment of the present invention.

[0047] Figure 4 It is a schematic cross-sectional view of a cargo box along a first direction in an embodiment of the present invention.

[0048] Figure 5 It is a schematic diagram of the connection relationship between the processor and the control terminal of the vehicle, the first display terminal of the material handling equipment and the laser radar in an embodiment of the present invention.

[0049] Figure 6 It is a schematic diagram of a function graph of a height curve of a material within an interval block in a cross-section coordinate system in an embodiment of the present invention.

[0050] Figure 7 It is a top view of a cargo box in another embodiment of the present invention.

[0051] Figure 8 It is a schematic diagram of a function graph of a height curve of a material in an interval block in a longitudinal section coordinate system in another embodiment of the present invention.

[0052] Fig. 9 The figure is a flow chart of the calculation, judgment and control strategy of the material loading height in the cargo box in an embodiment of the present invention.

[0053] Fig.10The figure is a flow chart of the calculation, judgment and control strategy of the loading weight of materials in the cargo box in an embodiment of the present invention.

[0054] In the figure: 1-vehicle, 11-cargo box, 110-bottom surface, 111-interval block, 12-laser radar, 13-protective cover, 14-cargo box brim, 15-control terminal, 2-processor, 3-first display terminal. DETAILED DESCRIPTION

[0055] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0056] The terms "first", "second", "third", "fourth" and the like (if any) in the description and claims of the present invention are used to distinguish similar objects and are not necessarily used to describe a particular sequence or order.

[0057] like Figures 1 to 6 and Fig. 9 As shown, an embodiment of the present invention provides a method for regulating vehicle loading, comprising:

[0058] S1, obtaining point cloud data of the surface of the material in the cargo box 11 of the vehicle 1;

[0059] S2, dividing the cargo box 11 into a plurality of interval blocks 111 along the first direction, fitting the point cloud data of the material surface in each interval block 111, and obtaining a height curve of the material in each interval block 111; and obtaining height information of the material in each interval block 111 according to the height curve of the material in each interval block 111;

[0060] S3. Compare the height of the material in each interval block 111 with the standard height range respectively; based on the comparison result, when the height of the material in some parts of at least some of the interval blocks 111 is not within the standard height range, the height of the material in the corresponding part of the interval block 111 (that is, the interval block 111 where the material height is not within the standard height range) is trimmed.

[0061] In the above step S1, the vehicle 1 may be a mining truck (i.e., a mining truck), and the material may be a mineral material. Of course, in other application scenarios, based on the different types of materials being transported, the vehicle 1 may also be other transportation equipment.

[0062] The method for standardizing vehicle loading provided by the embodiment of the present invention divides the cargo box 11 into a plurality of interval blocks 111, fits the point cloud data of the material surface in each interval block 111, obtains the height curve of the material in each interval block 111, and obtains the height information of the material in each interval block 111. By comparing the height of the material in each interval block 111 with the standard height range, it is judged whether the loading height of the material in the cargo box 11 meets the specification; when the height of the material in some parts of the interval block 111 is not within the standard height range, the height of the material in the corresponding part of the interval block 111 is trimmed so that the height of the material in each part of the interval block 111 is within the standard height range. In this way, on the one hand, it can avoid the loading height of the material in the cargo box 11 being too high, thereby avoiding the danger caused by the material falling due to shaking during the driving of the vehicle 1; on the other hand, it can avoid the loading height of the material in the cargo box 11 being too low, so as to improve the space utilization rate of the cargo box 11 and thus improve the operation efficiency. The method for standardizing vehicle loading can standardize the loading amount of the vehicle 1, which is not only conducive to improving production efficiency and ensuring rapid completion of production, but also improves the safety of the mining area.

[0063] like Figure 3 and Figure 4 As shown, as an implementation mode, in the above step S2, the cargo box 11 is divided into a plurality of interval blocks 111 along the first direction, specifically including:

[0064] Along the first direction, the cargo box 11 is evenly cut with a section E perpendicular to the bottom surface 110 of the cargo box 11 (the section E is perpendicular to the first direction), to obtain a plurality of three-dimensional interval blocks 111, each interval block 111 has a size (width) k along the first direction. k can be 5 cm to 10 cm.

[0065] As an implementation method, in the above-mentioned step S2, the least squares method can be used to fit the point cloud data of the material surface in each interval block 111, so as to obtain the height curve of the material in each interval block 111. The points on the height curve can represent the height value of the material (i.e., the distance between the material surface and the bottom surface 110 of the cargo box 11).

[0066] As an implementation mode, in the above step S3, when the height of the material at some parts in the interval block 111 is not within the standard height range, the height of the material at the corresponding parts in the interval block 111 is trimmed, specifically including:

[0067] When the height of the material at some parts in the interval block 111 is greater than the upper limit of the standard height range, the height of the material at the corresponding parts in the interval block 111 is reduced;

[0068] When the height of the materials at certain positions in the interval block 111 is less than the lower limit of the standard height range, the materials at the corresponding positions in the interval block 111 are filled.

[0069] As an implementation mode, the above step S3 further includes: feeding back the height information of the materials in each interval block 111 to the material loading and unloading equipment;

[0070] When the height of materials at certain locations within the interval block 111 is not within the standard height range, the height of materials at corresponding locations within the interval block 111 is trimmed by material handling equipment (not shown) based on the height information of the materials within each interval block 111 .

[0071] Specifically, when the height of the materials in certain parts of the interval block 111 is not within the standard height range, the height of the materials in the corresponding parts of the interval block 111 can be adjusted by using material handling equipment, such as an excavator (of course, it can also be other equipment). When the height of the materials in the interval block 111 is greater than the upper limit of the standard height range, the materials in the corresponding parts of the interval block 111 can be leveled (for example, flattened) or unloaded (that is, unloaded from the cargo box 11) by using material handling equipment; when the height of the materials in the interval block 111 is less than the lower limit of the standard height range, it means that the space in the interval block 111 is not fully utilized, and at this time, the materials in the corresponding parts of the interval block 111 can be filled by using material handling equipment.

[0072] According to different control modes of the material handling equipment, as an implementation mode, when the material handling equipment is a manually controlled equipment (for example, the material handling equipment is a manually controlled excavator), in the above step S3, the height information of the materials in each interval block 111 is fed back to the material handling equipment, specifically, it can be:

[0073] A material height distribution diagram of a cargo box interval block is generated according to the material height information in each interval block 111 (not shown in the figure), that is, the material height distribution diagram of the cargo box interval block includes the material height information in each interval block 111, and the material height distribution diagram of the cargo box interval block is fed back to the first display terminal 3 of the material handling equipment;

[0074] When the height of materials in certain parts of the interval block 111 is not within the standard height range, the driver operates the material loading and unloading equipment to adjust the height of the materials in the corresponding parts of the interval block 111 based on the schematic diagram of the material height distribution of the cargo box interval block displayed on the first display terminal 3.

[0075] Specifically, the first display terminal 3 may be the original central control screen in the cab of the material handling equipment, or may be an additional display. When the height of the materials in some interval blocks 111 is not within the standard height range, the driver of the material handling equipment can operate the material handling equipment to adjust the height of the materials in the corresponding interval blocks 111 according to the material height distribution diagram of the cargo box interval blocks displayed on the first display terminal 3, that is, the material height distribution diagram of the cargo box interval blocks can serve as an auxiliary prompt, thereby improving the accuracy and work efficiency of the operation.

[0076] Specifically, Figure 5 As shown, the processor 2 can be used to process the point cloud data of the material surface in the cargo box 11 to obtain the height information of the material in each interval block 111 and the above-mentioned cargo box interval block material height distribution diagram; the processor 2 can be an original processor in the vehicle 1 or an additional processor. The processor 2 is connected to the first display terminal 3 of the material handling equipment by signal (generally a wireless communication connection), so that the cargo box interval block material height distribution diagram is fed back to the first display terminal 3 of the material handling equipment for display.

[0077] As another implementation, when the material handling equipment is an automatically controlled equipment (for example, the material handling equipment is an automatically controlled unmanned excavator), in the above step S3, the height information of the materials in each interval block 111 is fed back to the material handling equipment, specifically, it can be:

[0078] Feedback the height information of the materials in each interval block 111 to the control end of the material handling equipment (not shown);

[0079] When the height of materials in certain parts of the interval block 111 is not within the standard height range, based on the height information of the materials in each interval block 111, automatic control is performed through the control end of the material loading and unloading equipment, so as to automatically adjust the height of the materials in the corresponding parts of the interval block 111.

[0080] Specifically, the processor 2 can be used to process the point cloud data of the material surface in the cargo box 11 to obtain the height information of the material in each interval block 111; the processor 2 is connected to the control end signal of the material loading and unloading equipment (generally a wireless communication connection), so as to feed back the height information of the material in each interval block 111 to the control end of the material loading and unloading equipment (at this time, there is no need to generate a schematic diagram of the material height distribution of the cargo box interval block), so that the material loading and unloading equipment can automatically control the loading and unloading according to the height information of the material in each interval block 111.

[0081] like Figure 4As shown, as an implementation mode, in the above step S3, the lower limit value of the standard height range is 80% to 90% of the height h of the cargo box 11, specifically, it can be 80%, 85% or 90% of the height h of the cargo box 11, etc.; the upper limit value of the standard height range is 100% to 120% of the height h of the cargo box 11, specifically, it can be 100%, 110% or 120% of the height h of the cargo box 11, etc.

[0082] Specifically, the upper limit of the standard height range is generally different according to the size of the material loaded in the cargo box 11. For example, when the material is a large-volume material such as ore, the loading height of the cargo box 11 can exceed the height h of the cargo box 11 (large-volume materials such as ore are not easy to fall), and the upper limit of the standard height range can be greater than the height h of the cargo box 11; when the material is a small-volume material such as coal, sand and gravel, the loading height of the cargo box 11 generally cannot exceed the height h of the cargo box 11 (small-volume materials such as coal, sand and gravel are easy to fall), and the upper limit of the standard height range can be set to 100% of the height h of the cargo box 11.

[0083] As an implementation mode, the method for regulating vehicle loading further includes:

[0084] S4. Calculate the volume of the material in each interval block 111 according to the height curve of the material in each interval block 111; calculate the total weight of the material in the cargo box 11 according to the volume of the material in each interval block 111;

[0085] S5. Compare the total weight of the materials in the cargo box 11 with the standard weight range; when the total weight of the materials in the cargo box 11 is not within the standard weight range, adjust the materials in the cargo box 11.

[0086] It should be noted that the order of the above steps S4 and S5 and the above step S3 does not need to be distinguished. That is, it is possible to first determine whether the height of the materials in each interval block 111 is in compliance with the regulations, and then calculate and determine whether the total weight of the materials in the cargo box 11 is in compliance with the regulations; it is also possible to first calculate and determine whether the total weight of the materials in the cargo box 11 is in compliance with the regulations, and then determine whether the height of the materials in each interval block 111 is in compliance with the regulations; it is also possible to determine whether the total weight of the materials in the cargo box 11 is in compliance with the regulations while determining whether the height of the materials in each interval block 111 is in compliance with the regulations.

[0087] Specifically, this embodiment calculates the volume of the material in each interval block 111 through the height curve of the material in each interval block 111, and then calculates the total weight of the material in the cargo box 11. When the total weight of the material in the cargo box 11 is not within the standard weight range, the material in the cargo box 11 is adjusted to keep the total weight of the material in the cargo box 11 within the standard weight range. In this way, on the one hand, it can avoid the danger of overloading caused by the excessive weight of the material in the cargo box 11, and on the other hand, it can avoid the reduction of the utilization rate of the cargo box 11 due to the excessive weight of the material in the cargo box 11, which is conducive to improving production efficiency, ensuring rapid completion of production, and improving the safety of the mining area.

[0088] As an implementation mode, in the above step S5, when the total weight of the materials in the cargo box 11 is not within the standard weight range, the materials in the cargo box 11 are adjusted, specifically including:

[0089] When the total weight of the materials in the cargo box 11 is greater than the upper limit of the standard weight range, part of the materials in the cargo box 11 are unloaded;

[0090] When the total weight of the materials in the cargo box 11 is less than the lower limit of the standard weight range, the materials are replenished into the cargo box 11.

[0091] As an implementation mode, the above step S5 further includes: feeding back the total weight of the materials in the cargo box 11 to the material loading and unloading equipment;

[0092] When the total weight of the materials in the cargo box 11 is not within the standard weight range, the materials in the cargo box 11 are adjusted by the material handling equipment based on the current total weight of the materials in the cargo box 11 .

[0093] Specifically, when the total weight of the materials in the cargo box 11 is not within the standard weight range, the materials in the cargo box 11 can be adjusted by using the material loading and unloading equipment so that the total weight of the materials in the cargo box 11 remains within the standard weight range. When the total weight of the materials in the cargo box 11 is greater than the upper limit of the standard weight range, the material loading and unloading equipment can be used to unload part of the materials in the cargo box 11; when the total weight of the materials in the cargo box 11 is less than the lower limit of the standard weight range, the material loading and unloading equipment can be used to add materials to the cargo box 11. Generally, the loading height and loading weight of the materials in the cargo box 11 need to meet the corresponding requirements.

[0094] According to different control modes of the material handling equipment, as an implementation mode, when the material handling equipment is a manually controlled equipment, in the above step S5, the total weight of the materials in the cargo box 11 is fed back to the material handling equipment, specifically, it can be:

[0095] Feedback the total weight of the materials in the cargo box 11 to the first display terminal 3 of the material handling equipment;

[0096] When the total weight of the materials in the cargo box 11 is not within the standard weight range, the driver operates the material loading and unloading equipment to adjust the materials in the cargo box 11 based on the total weight of the materials in the cargo box 11 displayed on the first display terminal 3 .

[0097] Specifically, when the total weight of the materials in the cargo box 11 is not within the standard weight range, the driver of the material loading and unloading equipment can operate the material loading and unloading equipment to load and unload the materials in the cargo box 11 according to the total weight of the materials in the cargo box 11 displayed in real time on the first display terminal 3, and ultimately keep the total weight of the materials in the cargo box 11 within the standard weight range, thereby improving the accuracy of the operation and work efficiency.

[0098] Specifically, Figure 5 As shown, the total weight of the materials in the cargo box 11 can be calculated using the processor 2; the processor 2 is signal-connected to the first display terminal 3 of the material handling equipment, so that the total weight of the materials in the cargo box 11 is fed back to the first display terminal 3 of the material handling equipment and displayed.

[0099] As another implementation, when the material handling equipment is an automatic control equipment, in the above step S5, the total weight of the materials in the cargo box 11 is fed back to the material handling equipment, specifically, it can be:

[0100] Feedback the total weight of the materials in the cargo box 11 to the control end of the material handling equipment;

[0101] When the total weight of the materials in the cargo box 11 is not within the standard weight range, the materials in the cargo box 11 are automatically adjusted by automatically controlling the control end of the material loading and unloading equipment based on the total weight of the materials in the cargo box 11 .

[0102] Specifically, the processor 2 can be used to calculate the total weight of the materials in the cargo box 11; the processor 2 is connected to the control end signal of the material loading and unloading equipment, so that the total weight of the materials in the cargo box 11 is fed back to the control end of the material loading and unloading equipment, so that the material loading and unloading equipment can automatically control the loading and unloading according to the total weight of the materials in the cargo box 11 (that is, the total weight of the materials in the cargo box 11 is used as the basis for automatic adjustment of the material loading and unloading equipment), and finally the total weight of the materials in the cargo box 11 is maintained within the standard weight range.

[0103] As an implementation mode, in the above step S5, the lower limit of the standard weight range is 60% to 75% of the rated load of the vehicle 1, specifically, it can be 60%, 65%, 70% or 75% of the rated load of the vehicle 1; the upper limit of the standard weight range is equal to the rated load of the vehicle 1 (i.e., 100% of the rated load).

[0104] As an implementation mode, the method for regulating vehicle loading further includes:

[0105] S6. Feedback the total weight of the materials in the cargo box 11 to the control terminal 15 and / or the second display terminal (not shown) of the vehicle 1 to control the acceleration of the vehicle 1 when starting and going uphill and the deceleration when going downhill according to the total weight of the materials in the cargo box 11.

[0106] Specifically, when the total weight of the materials in the cargo box 11 is relatively small, that is, the vehicle 1 is lightly loaded, the acceleration of the vehicle 1 when starting and going uphill can be controlled to be relatively small, that is, the vehicle 1 is controlled to slowly accelerate when starting and going uphill to reach the specified speed, and the absolute value of the deceleration of the vehicle 1 when going downhill is controlled to be relatively small (it should be noted that the deceleration is a negative number; the smaller the absolute value of the deceleration, the slower the vehicle 1 decelerates), that is, the vehicle 1 is controlled to slowly decelerate when going downhill to reach the specified speed. When the total weight of the materials in the cargo box 11 is relatively large, that is, the vehicle 1 is heavily loaded, the acceleration of the vehicle 1 when starting and going uphill can be controlled to be relatively large, that is, the vehicle 1 is controlled to accelerate faster when starting and going uphill to reach the specified speed, and the absolute value of the deceleration of the vehicle 1 when going downhill is controlled to be relatively large, that is, the vehicle 1 is controlled to decelerate faster when going downhill to reach the specified speed. In this way, energy can be saved while ensuring driving safety.

[0107] According to different control methods of vehicle 1, as an implementation method, when vehicle 1 is a manually controlled device (for example, vehicle 1 is a manually controlled mining truck), in the above step S6, the total weight of the materials in the cargo box 11 can be fed back to the second display terminal of vehicle 1. Based on the total weight of the materials in the cargo box 11 displayed on the second display terminal, the driver in vehicle 1 controls the acceleration of vehicle 1 when starting and going uphill and the deceleration when going downhill according to the total weight of the materials in the cargo box 11 (specifically, the acceleration / deceleration of vehicle 1 can be controlled by the throttle / electric switch); that is, at this time, the second display terminal can play an auxiliary prompting role, thereby improving the accuracy of control. The second display terminal can be the original central control screen in the cab of vehicle 1, or it can be an additional display.

[0108] Specifically, the total weight of the materials in the cargo box 11 can be calculated using the processor 2; the processor 2 is connected to the second display terminal signal (generally an electrical signal connection), so that the total weight of the materials in the cargo box 11 is fed back to the second display terminal and displayed.

[0109] As another embodiment, when the vehicle 1 is an automatically controlled device (for example, the vehicle 1 is an automatically controlled unmanned mining truck), in the above-mentioned step S6, the total weight of the materials in the cargo box 11 can be fed back to the control end 15 of the vehicle 1 (and can also be fed back to the second display terminal of the vehicle 1). Based on the total weight of the materials in the cargo box 11, the control end 15 of the vehicle 1 is automatically controlled to automatically adjust the acceleration of the vehicle 1 when starting and going uphill and the deceleration when going downhill.

[0110] Specifically, the processor 2 can be used to calculate the total weight of the materials in the cargo box 11; the processor 2 is signal-connected to the control end 15 of the vehicle 1 (generally an electrical signal connection), thereby feeding back the total weight of the materials in the cargo box 11 to the control end 15 of the vehicle 1, so that the control end 15 of the vehicle 1 controls the acceleration / deceleration of the vehicle 1 according to the total weight of the materials in the cargo box 11.

[0111] As an implementation mode, in the above step S6, the acceleration of the vehicle 1 when starting and going uphill and the deceleration when going downhill are controlled according to the total weight of the materials in the cargo box 11, specifically including:

[0112] When the vehicle 1 starts, when the total weight of the materials in the cargo box 11 is within the first preset range, the acceleration of the vehicle 1 is controlled to be A1; when the total weight of the materials in the cargo box 11 is within the second preset range, the acceleration of the vehicle 1 is controlled to be A2, and A1 is less than A2;

[0113] When the vehicle 1 is going uphill, when the total weight of the materials in the cargo box 11 is within the first preset range, the acceleration of the vehicle 1 is controlled to be A3; when the total weight of the materials in the cargo box 11 is within the second preset range, the acceleration of the vehicle 1 is controlled to be A4, and A3 is less than A4;

[0114] When the vehicle 1 is going downhill, when the total weight of the materials in the cargo box 11 is within the first preset range, the absolute value of the deceleration of the vehicle 1 is controlled to be A5; when the total weight of the materials in the cargo box 11 is within the second preset range, the absolute value of the deceleration of the vehicle 1 is controlled to be A6, and A5 is less than A6;

[0115] The lower limit of the second preset range is greater than or equal to the upper limit of the first preset range (i.e., the second preset range is greater than the first preset range), and both the first preset range and the second preset range are within the standard weight range. The first preset range is, for example, 70% to 85% of the rated load of the vehicle 1, and the second preset range is, for example, 85% to 100% of the rated load of the vehicle 1.

[0116] As an implementation mode, the above step S4 specifically includes:

[0117] According to the height curve of the material in each interval block 111, the cross-sectional area S of the material in each interval block 111 is calculated (the cross section of the material is parallel to the cutting plane E);

[0118] The volume V of the material in each interval block 111 is calculated according to the cross-sectional area S of the material in each interval block 111; wherein V=S*k, k is the size of each interval block 111 along the first direction;

[0119] According to the volume V of the material in each interval block 111, the sum of the volume V of the material in all interval blocks 111 is calculated to obtain the total volume V of the material in the cargo box 11 总 (That is, the volume V of the material in each interval block 111 is added together to obtain the total volume V 总 );

[0120] According to the total volume V of the material in the cargo box 11 总 , calculate the total weight M of the materials in the cargo box 11; where M = V 总 *ρ, ρ is the average density of the material in the cargo box 11 (the average density ρ needs to be obtained by sampling and measuring the material in advance).

[0121] like Figure 3 , Figure 4 and Figure 6 As shown, as an embodiment, the cargo box 11 has a head-to-tail direction L (i.e., the length direction of the cargo box 11), a width direction W, and a height direction H that are perpendicular to each other. The first direction is the head-to-tail direction L of the cargo box 11; that is, in the above step S2, the cargo box 11 is evenly cut along the head-to-tail direction L of the cargo box 11 with a section E perpendicular to the bottom surface 110 of the cargo box 11, to obtain a plurality of interval blocks 111 arranged in sequence along the head-to-tail direction L of the cargo box 11. In the above step S4, the method for calculating the cross-sectional area S of the material in the interval block 111 specifically includes:

[0122] A cross-sectional coordinate system of the material in the interval block 111 is established, wherein the x-axis (i.e., the horizontal axis) of the cross-sectional coordinate system is parallel to the width direction W of the cargo box 11, and the y-axis (i.e., the vertical axis) of the cross-sectional coordinate system is parallel to the height direction H of the cargo box 11. The cross-sectional coordinate system can select the left bottom corner of the cargo box 11 or the right bottom corner of the cargo box 11 as the coordinate origin (of course, other positions can also be selected as the coordinate origin);

[0123] According to the calculus formula The cross-sectional area S of the material in the interval block 111 is calculated (at this time, the cross-sectional area S is the area of ​​the cross-section of the material in the interval block 111); wherein f(x) is the function expression of the height curve of the material in the interval block 111 in the cross-sectional coordinate system, and w is the width of the cargo box 11.

[0124] The above calculus can also be converted into a limit summation formula, that is, That is, the cross section of the material in the interval block 111 in the cross section coordinate system is divided into n small narrow rectangles, and the width of each narrow rectangle is Δx i , and Δx i approaches 0, f(x i ) is the height of the narrow rectangle, that is, the area of ​​each narrow rectangle is f(x i )Δx iThe sum of the areas of the narrow rectangles is the cross-sectional area of ​​the material in the interval block 111. The specific algorithm of the limit summation formula can be found in the prior art and will not be described here.

[0125] like Figure 7 and Figure 8 As shown, as another embodiment, the first direction is the width direction W of the cargo box 11; that is, in the above step S2, the cargo box 11 is evenly cut along the width direction W of the cargo box 11 with a section E perpendicular to the bottom surface 110 of the cargo box 11, to obtain a plurality of interval blocks 111 arranged in sequence along the width direction W of the cargo box 11. In the above step S4, the method for calculating the cross-sectional area S of the material in the interval block 111 specifically includes:

[0126] A longitudinal section coordinate system of the material in the interval block 111 is established, wherein the x-axis of the longitudinal section coordinate system is parallel to the fore-aft direction L of the cargo box 11, and the y-axis of the longitudinal section coordinate system is parallel to the height direction H of the cargo box 11. The longitudinal section coordinate system can select the front bottom corner of the cargo box 11 or the rear bottom corner of the cargo box 11 as the coordinate origin (of course, other positions can also be selected as the coordinate origin);

[0127] According to the calculus formula The cross-sectional area S of the material in the interval block 111 is calculated (the cross-sectional area S is the area of ​​the longitudinal section of the material in the interval block 111); wherein f(x) is the function expression of the height curve of the material in the interval block 111 in the longitudinal section coordinate system, and a is the length of the cargo box 11. The above calculus formula can also be converted into a limit summation formula, which will not be repeated here.

[0128] As an implementation mode, the above step S1 specifically includes:

[0129] The point cloud data of the cargo box 11 when it is empty (i.e., not loaded with materials) and the point cloud data of the cargo box 11 when it is loaded with materials are obtained respectively, and the point cloud data of the cargo box 11 when it is empty and the point cloud data of the cargo box 11 when it is loaded with materials are fused to obtain the point cloud data of the surface of the materials in the cargo box 11.

[0130] Specifically, point cloud data fusion is the process of merging multiple point cloud data sets into a complete data set. This process may involve point coordinate transformation, alignment, and data merging technology to ensure the spatial consistency and integrity of the fused point cloud data (for the specific methods and principles of point cloud data fusion, please refer to the prior art and will not be repeated here). After fusing the point cloud data of the cargo box 11 when it is empty with the point cloud data of the cargo box 11 when it is loaded with materials, a more complete and accurate point cloud model will be obtained, that is, a point cloud model of the surface of the material in the cargo box 11, and then the point cloud data of the surface of the material in the cargo box 11 will be obtained. The point cloud data of the surface of the material in the cargo box 11 contains the height information of the point cloud of the surface of the material in the cargo box 11 relative to the bottom surface 110 of the cargo box 11, which facilitates the subsequent fitting to obtain the height curve of the material.

[0131] As an implementation mode, in the above step S1, before fusing the point cloud data when the cargo box 11 is empty with the point cloud data when the cargo box 11 is loaded with materials, the point cloud data when the cargo box 11 is loaded with materials and / or the point cloud data when the cargo box 11 is empty are first downsampled, and then the point cloud data when the cargo box 11 is empty with the point cloud data when the cargo box 11 is loaded with materials are fused. And / or, after obtaining the point cloud data of the surface of the material in the cargo box 11, the point cloud data of the surface of the material in the cargo box 11 is also downsampled, so as to facilitate the subsequent fitting of the point cloud data of the surface of the material to obtain the height curve of the material.

[0132] Specifically, the downsampling of point cloud data is to extract the point cloud data (for example, sampling a sample value sequence once every few sample values) to remove outliers, remove duplicate points, reduce noise, reduce point cloud density, etc., to improve the quality of point cloud data, thereby facilitating subsequent data processing and improving the accuracy of the obtained material height curve.

[0133] like Figure 1 and Figure 2 As shown, as an implementation mode, in the above step S1, a laser radar 12 is arranged on the vehicle 1, and the laser radar 12 is used to scan the cargo box 11 when it is empty and when it is loaded with materials, so as to obtain point cloud data of the cargo box 11 when it is empty and point cloud data of the cargo box 11 when it is loaded with materials, respectively.

[0134] Specifically, the laser radar 12 is also called a three-dimensional laser scanner, which is a device that can scan three-dimensional objects to obtain the size and orientation of the object. The working principle of the laser radar 12 is to continuously emit detection signals (laser beams) to the surrounding target objects, and receive the returned signals to calculate and describe the relevant information of the measured object, such as the distance, orientation, height, posture, shape and other parameters of the object, so as to achieve the purpose of dynamic 3D scanning. At present, the laser radar 12 has been widely used in unmanned vehicles, and it is mainly used to detect obstacle information on the road. There are many types of laser radars 12. According to their characteristics, working principles and usage scenarios, a suitable laser radar 12 can be selected for application in this application (specifically, the H13 three-dimensional contour scanning laser radar of LaserMoon can be used). For example Figure 5 As shown, the laser radar 12 can be connected to the above-mentioned processor 2 by signal (generally an electrical signal connection). The laser radar 12 transmits the measured point cloud data of the cargo box 11 when it is empty and the point cloud data of the cargo box 11 when it is loaded with materials to the processor 2. The processor 2 processes the point cloud data of the cargo box 11 when it is empty and the point cloud data of the cargo box 11 when it is loaded with materials, and then obtains the point cloud data of the material surface in the cargo box 11 and the height curve of the material.

[0135] like Figure 1 and Figure 2 As shown, as an implementation method, the laser radar 12 can be installed on the cargo box brim 14 of the vehicle 1, and the cargo box brim 14 is located above the front of the cargo box 11. The laser radar 12 can scan the cargo box 11 and the materials in the cargo box 11 from top to bottom. Of course, in other embodiments, the laser radar 12 can also be installed at other positions on the vehicle 1. After the laser radar 12 is installed, it is necessary to set the scanning angle of the laser radar 12 so that the outline of the cargo box 11 is at the boundary of the scanning range of the laser radar 12, so that the entire cargo box 11 is within the scanning range of the laser radar 12; combined with the point cloud data of the laser radar 12 scanning the cargo box 11 before and after loading, the part of the point cloud data that has changed is compared, and then the range of the materials in the cargo box 11 is determined.

[0136] like Figure 1 and Figure 2 As shown, as an embodiment, along the width direction W of the cargo box 11, the laser radar 12 is located in the middle of the cargo box brim 14.

[0137] like Figure 1 and Figure 2As shown in the figure, as an embodiment, in order to prevent the laser radar 12 from being hit or hit by other objects, a protective cover 13 is provided on the cargo box brim 14, and the protective cover 13 is provided corresponding to the laser radar 12 to protect the laser radar 12. The protective cover 13 may specifically include four steel plates, which are respectively located on the left side, right side, top and front (at the left side, right side, top and front side) of the laser radar 12. Figure 1 In the figure, the steel plates on the left and right sides of the laser radar 12 are not shown; Figure 2 In the figure, the steel plate above the laser radar 12 is not shown); at the same time, no steel plate is set behind the laser radar 12 (to avoid blocking the scanning signal emitted by the laser radar 12) so that the laser radar 12 can scan the cargo box 11.

[0138] like Figures 1 to 6 and Fig. 9 and Fig.10 As shown, when the method of standardizing vehicle loading is applied to the scenario where an excavator loads materials into a mining truck, the specific workflow can be:

[0139] 1. Acquisition of the height curve of the material: a laser radar 12 is arranged on the cargo box brim 14 of the mining truck, and the laser radar 12 is used to scan the cargo box 11 when it is empty to obtain the point cloud data of the cargo box 11 when it is empty.

[0140] The excavator is used to load materials into the cargo box 11. After the materials are loaded, the laser radar 12 is used to scan the cargo box 11 again to obtain the point cloud data when the cargo box 11 is loaded with materials. The point cloud data when the cargo box 11 is empty and the point cloud data when the cargo box 11 is loaded with materials are fused to obtain the point cloud data of the material surface in the cargo box 11.

[0141] The cargo box 11 is divided into a plurality of interval blocks 111 , and the point cloud data of the surface of the material in each interval block 111 is fitted to obtain a height curve of the material in each interval block 111 .

[0142] 2. Calculation, judgment and control strategy of material stacking height: According to the height curve of the material in each interval block 111, the height information of the material in each interval block 111 is obtained.

[0143] The height of the material in each interval block 111 is compared with the standard height range, and the standard height range is, for example, 90% to 120% of the height of the cargo box 11. When the height of the material in some parts of the partial interval block 111 is not within the standard height range, the information is fed back to the excavator, for example, to the first display terminal 3 in the excavator; the excavator driver can operate the excavator to trim the height of the material in the corresponding part of the interval block 111 according to the material height distribution diagram of the cargo box interval block displayed on the first display terminal 3. For example, when the height of the material in some parts of the partial interval block 111 is greater than the upper limit of the standard height range (for example, greater than 120% of the height of the cargo box 11), the excavator driver operates the excavator to unload the material in the corresponding part of the interval block 111; when the height of the material in some parts of the partial interval block 111 is less than the lower limit of the standard height range (for example, less than 90% of the height of the cargo box 11), the excavator driver operates the excavator to fill the material in the corresponding part of the interval block 111. When the height of the materials in each interval block 111 is within the standard height range, it is prompted that the excavator has completed loading.

[0144] 3. Calculation, judgment and control strategy of material loading weight: According to the height curve of the material in each interval block 111, the volume of the material in each interval block 111 is calculated, and then the total volume of the material in the cargo box 11 is obtained; according to the total volume of the material in the cargo box 11 and combined with the average density of the material in the cargo box 11, the total weight of the material in the cargo box 11 is calculated.

[0145] The total weight of the materials in the cargo box 11 is compared with the standard weight range, and the standard weight range is, for example, 70% to 100% of the rated load of the mining truck. When the total weight of the materials in the cargo box 11 is not within the standard weight range, the information is fed back to the excavator, for example, to the first display terminal 3 in the excavator; based on the total weight of the materials in the cargo box 11 displayed on the first display terminal 3, the excavator driver operates the excavator to adjust the materials in the cargo box 11. For example, when the total weight of the materials in the cargo box 11 is greater than the upper limit of the standard weight range (for example, greater than 100% of the rated load of the mining truck), the excavator driver operates the excavator to unload part of the materials in the cargo box 11; when the total weight of the materials in the cargo box 11 is less than the lower limit of the standard weight range (for example, less than 70% of the rated load of the mining truck), the excavator driver operates the excavator to fill the cargo box 11 with materials. When the total weight of the materials in the cargo box 11 is within the standard weight range, it is prompted that the excavator has been loaded.

[0146] At the same time, based on the final total weight of the materials in the cargo box 11 (i.e., the total weight after loading), a basis can be provided for the driving speed of the mining truck. For example, according to the total weight of the materials in the cargo box 11, combined with the specific model and rated load of the mining truck, it is distinguished whether the current working condition of the mining truck is light load or heavy load; for example, when the total weight of the materials in the cargo box 11 is 70% to 85% of the rated load of the mining truck, it is light load, and when the total weight of the materials in the cargo box 11 is 85% to 100% of the rated load of the mining truck, it is heavy load. When the mining truck is light load, the mining truck can be controlled to slowly accelerate to reach the specified speed when starting and going uphill, and the mining truck can be controlled to slowly decelerate to reach the specified speed when going downhill; when the mining truck is heavy load, the mining truck can be controlled to accelerate faster to reach the specified speed when starting and going uphill, and the mining truck can be controlled to accelerate faster to reach the specified speed when going downhill, so as to save energy while ensuring driving safety (the mining truck is, for example, an unmanned mining truck, and the control end 15 of the mining truck automatically controls the acceleration / deceleration of the mining truck according to its load weight).

[0147] The method for standardizing vehicle loading provided by the embodiment of the present invention divides the cargo box 11 into a plurality of interval blocks 111, fits the point cloud data of the material surface in each interval block 111, obtains the height curve of the material in each interval block 111, and obtains the height information of the material in each interval block 111. At the same time, the volume of the material in each interval block 111 is calculated by the height curve of the material in each interval block 111, and then the total weight of the material in the cargo box 11 is calculated. By comparing the height of the material in each interval block 111 with the standard height range, it is determined whether the loading height of the material in the cargo box 11 meets the specification, and the height of the material in the corresponding interval block 111 is trimmed accordingly; by comparing the total weight of the material in the cargo box 11 with the standard weight range, it is determined whether the load weight of the material in the cargo box 11 meets the specification, and the load weight of the material in the cargo box 11 is adjusted accordingly. In this way, on the one hand, the danger caused by the loading height of the material in the cargo box 11 being too high or the load being too large can be avoided, and on the other hand, the utilization rate of the cargo box 11 can be avoided to be reduced due to the loading height of the material in the cargo box 11 being too low or the load being too small, so that the loading amount of the vehicle 1 is standardized, which is not only conducive to improving production efficiency and ensuring that the output is completed quickly, but also improves the safety of the mining area. At the same time, by taking the load of the material in the cargo box 11 as the basis for the driving speed of the vehicle 1, energy can be saved while ensuring driving safety.

[0148] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for regulating vehicle loading, characterized in that: include: S1. Obtaining point cloud data of the surface of materials in a cargo box (11) of a vehicle (1); S2, dividing the cargo box (11) into a plurality of interval blocks (111) along a first direction, fitting the point cloud data of the surface of the material in each interval block (111) to obtain a height curve of the material in each interval block (111); and obtaining height information of the material in each interval block (111) according to the height curve of the material in each interval block (111); S3, comparing the height of the material in each of the interval blocks (111) with the standard height range; when the height of the material at certain positions in the interval block (111) is not within the standard height range, trimming the height of the material at the corresponding position in the interval block (111).

2. The method for regulating vehicle loading as claimed in claim 1, characterized in that: The first direction is the fore-and-aft direction (L) or the width direction (W) of the cargo box (11).

3. The method for regulating vehicle loading as claimed in claim 1, characterized in that: In the above step S3, when the height of the material at certain parts in the interval block (111) is not within the standard height range, the height of the material at the corresponding parts in the interval block (111) is trimmed, specifically including: When the height of the material at certain positions in the interval block (111) is greater than the upper limit of the standard height range, the height of the material at the corresponding position in the interval block (111) is lowered; When the height of materials at certain locations within the interval block (111) is less than the lower limit of the standard height range, the materials at corresponding locations within the interval block (111) are filled.

4. The method for regulating vehicle loading as claimed in claim 1, characterized in that: The above step S3 further includes: feeding back the height information of the materials in each of the interval blocks (111) to the material loading and unloading equipment; When the height of materials at certain locations within the interval block (111) is not within the standard height range, the height of materials at corresponding locations within the interval block (111) is trimmed by the material handling equipment based on the height information of the materials within each interval block (111).

5. The method for regulating vehicle loading according to claim 1, characterized in that: The method for regulating vehicle loading also includes: S4. Calculate the volume of the material in each of the interval blocks (111) according to the height curve of the material in each of the interval blocks (111); calculate the total weight of the material in the cargo box (11) according to the volume of the material in each of the interval blocks (111); S5. Compare the total weight of the materials in the cargo box (11) with a standard weight range; when the total weight of the materials in the cargo box (11) is not within the standard weight range, adjust the materials in the cargo box (11).

6. The method for regulating vehicle loading as claimed in claim 5, characterized in that: In the above step S5, when the total weight of the materials in the cargo box (11) is not within the standard weight range, the materials in the cargo box (11) are adjusted, specifically including: When the total weight of the materials in the cargo box (11) is greater than the upper limit of the standard weight range, part of the materials in the cargo box (11) are unloaded; When the total weight of the materials in the cargo box (11) is less than the lower limit of the standard weight range, the materials are replenished into the cargo box (11).

7. The method for regulating vehicle loading as claimed in claim 5, characterized in that: The above-mentioned step S5 further comprises: feeding back the total weight of the materials in the cargo box (11) to the material loading and unloading equipment; When the total weight of the materials in the cargo box (11) is not within the standard weight range, the materials in the cargo box (11) are adjusted by the material loading and unloading equipment based on the total weight of the materials in the cargo box (11).

8. The method for regulating vehicle loading as claimed in claim 5, characterized in that: The method for regulating vehicle loading also includes: S6. Feedback the total weight of the materials in the cargo box (11) to the control terminal (15) and / or the second display terminal of the vehicle (1), so as to control the acceleration of the vehicle (1) when starting and going uphill and the deceleration when going downhill according to the total weight of the materials in the cargo box (11).

9. The method for regulating vehicle loading as claimed in claim 5, characterized in that: In the above step S2, the cargo box (11) is divided into a plurality of the interval blocks (111) along the first direction, which specifically includes: The cargo box (11) is uniformly cut along the first direction with a section (E) perpendicular to the bottom surface (110) of the cargo box (11) to obtain a plurality of three-dimensional interval blocks (111), each of the interval blocks (111) having a size k along the first direction.

10. The method for regulating vehicle loading according to claim 9, characterized in that: The above step S4 specifically includes: Calculating the cross-sectional area S of the material in each of the interval blocks (111) according to the height curve of the material in each of the interval blocks (111); The volume V of the material in each of the interval blocks (111) is calculated based on the cross-sectional area S of the material in each of the interval blocks (111); wherein V=S*k; According to the volume V of the material in each of the interval blocks (111), the sum of the volumes V of the material in all the interval blocks (111) is calculated to obtain the total volume V of the material in the cargo box (11). 总 ; According to the total volume V of the material in the cargo box (11) 总 , calculate the total weight M of the materials in the cargo box (11); where M = V 总 *ρ, ρ is the average density of the material in the cargo box (11).

11. The method for regulating vehicle loading according to claim 10, characterized in that: The first direction is the fore-aft direction (L) of the cargo box (11); in the above step S4, the method for calculating the cross-sectional area S of the material in the interval block (111) specifically includes: A cross-sectional coordinate system of the material in the interval block (111) is established, wherein the x-axis of the cross-sectional coordinate system is parallel to the width direction (W) of the cargo box (11), the y-axis of the cross-sectional coordinate system is parallel to the height direction (H) of the cargo box (11), and the head-to-tail direction (L), the width direction (W), and the height direction (H) are mutually perpendicular in pairs; According to the formula The cross-sectional area S of the material in the interval block (111) is calculated; wherein f(x) is the function expression of the height curve of the material in the interval block (111) in the cross-sectional coordinate system, and w is the width of the cargo box (11).

12. The method for regulating vehicle loading according to claim 10, characterized in that: The first direction is the width direction (W) of the cargo box (11); in the above step S4, the method for calculating the cross-sectional area S of the material in the interval block (111) specifically includes: A longitudinal section coordinate system of the material in the interval block (111) is established, wherein the x-axis of the longitudinal section coordinate system is parallel to the fore-aft direction (L) of the cargo box (11), the y-axis of the longitudinal section coordinate system is parallel to the height direction (H) of the cargo box (11), and the fore-aft direction (L), the width direction (W) and the height direction (H) are mutually perpendicular in pairs; According to the formula The cross-sectional area S of the material in the interval block (111) is calculated; wherein f(x) is the function expression of the height curve of the material in the interval block (111) in the longitudinal section coordinate system, and a is the length of the cargo box (11).

13. The method for regulating vehicle loading according to any one of claims 1 to 12, characterized in that: The above step S1 specifically includes: The point cloud data of the cargo box (11) when empty and the point cloud data of the cargo box (11) when loaded with materials are obtained respectively, and the point cloud data of the cargo box (11) when empty and the point cloud data of the cargo box (11) when loaded with materials are fused to obtain the point cloud data of the surface of the materials in the cargo box (11).

14. The method for regulating vehicle loading according to claim 13, characterized in that: In the above step S1, before fusing the point cloud data when the cargo box (11) is empty with the point cloud data when the cargo box (11) is loaded with materials, downsampling is first performed on the point cloud data when the cargo box (11) is loaded with materials and / or the point cloud data when the cargo box (11) is empty; And / or, after obtaining the point cloud data of the surface of the material in the cargo box (11), downsampling processing is also performed on the point cloud data of the surface of the material in the cargo box (11).

15. The method for regulating vehicle loading according to claim 13, characterized in that: In the above step S1, a laser radar (12) is arranged on the vehicle (1), and the laser radar (12) is used to scan the cargo box (11) when it is empty and the cargo box (11) when it is loaded with materials, so as to obtain point cloud data of the cargo box (11) when it is empty and point cloud data of the cargo box (11) when it is loaded with materials.

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