Material shoveling and loading method, device and equipment and storage medium

Abstract

The invention provides a material shoveling method, device and equipment and a storage medium. The shoveling method comprises the steps that in response to the fact that a shoveling vehicle makes contact with materials, the volume of a first material in a current bucket of the shoveling vehicle is determined, and the volume of a second material which can be loaded when the shoveling vehicle shovels the materials at the current moment according to a preset shoveling strategy is predicted; and when it is detected that the sum value of the first material volume and the second material volume is larger than or equal to the target material volume, according to the material type to which the material belongs, the shovel loading vehicle is controlled to shovel the material according to a target material shoveling strategy matched with the material type till a bucket of the shovel loading vehicle leaves the surface of the material. Therefore, according to the method and the device, the fullness rate and the operation efficiency of unmanned shoveling are met, meanwhile, the target shoveling strategy suitable for the current shoveled materials can be flexibly allocated according to different types of materials, and the material volume of single shoveling can be accurately controlled to tend to the preset target material volume.

Description

Technical Field

[0001] The present application relates to the field of unmanned control technology, and in particular to a material shoveling method, device, equipment and storage medium. Background Art

[0002] When controlling an unmanned loader to shovel materials, the unmanned loader is usually triggered to perform the shoveling action based on the change in the arm cylinder pressure or the vehicle speed. However, on the one hand, due to the different driving speeds of the unmanned loader rushing towards the material pile or the different types of materials hitting the material pile, the pressure trigger thresholds that need to be configured are different, so that the pre-configured shoveling strategy often cannot adapt to the needs of different types of materials and different shoveling vehicles, and abnormal situations such as the shoveling action getting stuck are prone to occur; on the other hand, according to the above-mentioned existing control method, it only focuses on achieving the highest possible full bucket rate each time shoveling, but cannot accurately control the volume of materials shoveled by a single shoveling, which is not conducive to executing high-precision shoveling tasks such as mixing concrete that require precise control of the shoveling ratios of different materials. Summary of the invention

[0003] In view of this, the present application provides a material shoveling method, device, equipment and storage medium, which can not only meet the full bucket rate and operating efficiency of unmanned shoveling, but also flexibly allocate target shoveling strategies suitable for the current shoveling materials for different types of materials, and can accurately control the material volume of a single shoveling to tend to a pre-set target material volume, and can meet the task requirements of high-precision shoveling tasks that require precise control of the shoveling ratios of different materials.

[0004] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings.

[0005] In a first aspect, an embodiment of the present application provides a method for shoveling materials, the method comprising:

[0006] In response to the shoveling vehicle contacting the material, determining a first material volume currently in the shovel of the shoveling vehicle, and predicting a second material volume that the shoveling vehicle can load at the current moment according to a preset shoveling strategy;

[0007] When it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, the shoveling vehicle is controlled to shovel the material according to the material type to which the material belongs, according to the target shoveling strategy matching the material type, until the bucket of the shoveling vehicle leaves the material surface.

[0008] In a second aspect, an embodiment of the present application provides a material shoveling device, the shoveling device comprising:

[0009] A prediction module, configured to determine a first material volume in a current bucket of the shovel loader in response to the shovel loader contacting the material, and predict a second material volume that the shovel loader can load at the current moment according to a preset shoveling strategy;

[0010] The detection module is used to control the shoveling vehicle to shovel materials according to the target shoveling strategy matching the material type when it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, according to the material type to which the materials belong, until the bucket of the shoveling vehicle leaves the material surface.

[0011] In a third aspect, an embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned material shoveling method when executing the computer program.

[0012] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned material shoveling method are executed.

[0013] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0014] The embodiments of the present application provide a material shoveling method, device, equipment and storage medium. In response to the contact of the shoveling vehicle with the material, the first material volume in the current bucket of the shoveling vehicle is determined, and the second material volume that the shoveling vehicle can load at the current moment according to the preset shoveling strategy is predicted; when it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, the shoveling vehicle is controlled to shovel the material according to the target shoveling strategy that matches the material type according to the material type to which the material belongs, until the bucket of the shoveling vehicle leaves the surface of the material. In this way, while meeting the full bucket rate and operating efficiency of unmanned shoveling, the present application can also flexibly allocate target shoveling strategies suitable for the current shoveling material for different types of materials, and can accurately control the material volume of a single shoveling to tend to the preset target material volume, which can meet the task requirements of high-precision shoveling tasks that require precise control of the shoveling ratio of different materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 A schematic diagram of a process of a material shoveling method provided in an embodiment of the present application is shown;

[0017] Figure 2 A schematic diagram of a material shoveling process of a shoveling vehicle provided in an embodiment of the present application is shown;

[0018] Figure 3a A schematic diagram showing a change in the posture of the arm of a shoveling vehicle corresponding to a conventional shoveling strategy provided by an embodiment of the present application is shown;

[0019] Figure 3b A schematic diagram showing a change in the posture of the arm of a shoveling vehicle corresponding to a drag reduction shoveling strategy provided by an embodiment of the present application is shown;

[0020] Figure 4 A schematic diagram of a material surface elevation map provided in an embodiment of the present application is shown;

[0021] Figure 5 A schematic diagram of the arm structure modeling of a shovel-loading vehicle provided in an embodiment of the present application is shown;

[0022] Figure 6a A side view of a shovel-loading vehicle provided in an embodiment of the present application is shown;

[0023] Figure 6b A top view of a shovel-loading vehicle provided in an embodiment of the present application is shown;

[0024] Figure 7 A schematic structural diagram of a material shoveling device provided in an embodiment of the present application is shown;

[0025] Figure 8 A schematic diagram of the structure of an electronic device 800 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0027] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0028] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0029] When controlling an unmanned loader to shovel materials, the unmanned loader is usually triggered to perform the shoveling action based on the change in the arm cylinder pressure or the vehicle speed. However, on the one hand, due to the different driving speeds of the unmanned loader rushing towards the material pile or the different types of materials hitting the material pile, the pressure trigger thresholds that need to be configured are different, so that the pre-configured shoveling strategy often cannot adapt to the needs of different types of materials and different shoveling vehicles, and abnormal situations such as the shoveling action getting stuck are prone to occur; on the other hand, according to the above-mentioned existing control method, it only focuses on achieving the highest possible full bucket rate each time shoveling, but cannot accurately control the volume of materials shoveled by a single shoveling, which is not conducive to executing high-precision shoveling tasks such as mixing concrete that require precise control of the shoveling ratios of different materials.

[0030] Based on this, the embodiments of the present application provide a material shoveling method, device, equipment and storage medium. While meeting the full bucket rate and operating efficiency of unmanned shoveling, it can also flexibly allocate target shoveling strategies suitable for the current shoveling materials for different types of materials, and can accurately control the material volume of a single shoveling to tend towards a pre-set target material volume, which can meet the task requirements of high-precision shoveling tasks that require precise control of the shoveling ratios of different materials.

[0031] In one embodiment of the present application, a material shoveling method can be run in a vehicle control unit of a shoveling vehicle, so that unmanned control of the shoveling vehicle can be achieved through the above-mentioned vehicle control unit, and the shoveling vehicle can be controlled to achieve unmanned shoveling operations.

[0032] To facilitate understanding of the embodiments of the present application, a material shoveling method, device, equipment and storage medium provided in the embodiments of the present application are introduced in detail below.

[0033] Reference Figure 1 As shown, Figure 1A schematic flow chart of a material shoveling method provided in an embodiment of the present application is shown, wherein the shoveling method comprises steps S101-S102; specifically:

[0034] S101, in response to a shovel loader contacting a material, determining a first material volume currently in a shovel bucket of the shovel loader, and predicting a second material volume that the shovel loader can load at the current moment according to a preset shoveling strategy.

[0035] S102, when it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, according to the material type to which the material belongs, the shoveling vehicle is controlled to shovel the material according to the target shoveling strategy matching the material type until the bucket of the shoveling vehicle leaves the material surface.

[0036] The shoveling method of the above-mentioned material provided in the embodiment of the present application determines the first material volume in the current bucket of the shoveling vehicle in response to the shoveling vehicle contacting the material, and predicts the second material volume that the shoveling vehicle can load at the current moment according to the preset shoveling strategy; when it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, the shoveling vehicle is controlled to shovel the material according to the target shoveling strategy that matches the material type according to the material type to which the material belongs, until the bucket of the shoveling vehicle leaves the surface of the material. In this way, while meeting the full bucket rate and operating efficiency of unmanned shoveling, the present application can also flexibly allocate target shoveling strategies suitable for the current shoveling material for different types of materials, and can accurately control the material volume of a single shoveling to tend to the preset target material volume, which can meet the task requirements of high-precision shoveling tasks that require precise control of the shoveling ratio of different materials.

[0037] The following is an exemplary description of each step in the above-mentioned material shoveling method provided in the embodiment of the present application:

[0038] S101, in response to a shovel loader contacting a material, determining a first material volume currently in a shovel bucket of the shovel loader, and predicting a second material volume that the shovel loader can load at the current moment according to a preset shoveling strategy.

[0039] here, Figure 2 FIG. 1 shows a schematic diagram of a shoveling process of a shoveling vehicle provided in an embodiment of the present application, such as Figure 2As shown, the shoveling process of the shoveling vehicle can be divided into: an Attacking stage before contacting the material, a Crowding stage of contacting the material and continuing to go deep, and a Scooping stage when the arm starts to move to complete the shoveling; wherein, the problem to be solved in step S101 is: after the shoveling vehicle enters the Crowding stage (i.e., in response to the shoveling vehicle contacting the material), how to choose the appropriate time to stop the Crowding stage and switch to the Scooping stage (i.e., how to determine the specific timing of controlling the shoveling vehicle to enter the Scooping stage from the Crowding stage).

[0040] Specifically, unlike the prior art method of determining when the shoveling vehicle switches from the Crowding stage to the Scooping stage by detecting whether the change in the oil cylinder pressure in the shoveling vehicle exceeds the pressure trigger threshold (e.g., if the change in the oil cylinder pressure exceeds the above pressure trigger threshold, the shoveling vehicle is controlled to switch from the Crowding stage to the Scooping stage), in step S101 of the embodiment of the present application, the material volume of the material that has been shoveled by the shoveling vehicle in the Crowding stage (i.e., the above-mentioned first material volume) is first calculated, and the material volume of the material that is expected to be shoveled if the shoveling vehicle is controlled to enter the Scooping stage at the current moment (i.e., the above-mentioned second material volume) is predicted. ), so that the sum of the above two material volumes (i.e. the above first material volume and the above second material volume) is used as the predicted result of the material volume that the shoveling vehicle can finally scoop in a single time if it enters the Scooping stage at the current moment (i.e. the predicted result of the material volume that is finally scooped after the Scooping stage ends), and then by comparing the above material volume prediction result with the target material volume that the user specifies for a single scooping, the shoveling vehicle can be controlled to enter the Scooping stage when the above material volume prediction result meets the above target material volume, so that the material volume of a single scooping can be accurately controlled to tend to the above target material volume preset by the user, thereby realizing precise control of the shoveling vehicle.

[0041] Here, different scooping strategies are used to control the shoveling vehicle to scoop materials according to different arm posture change methods, that is, different scooping strategies will affect the specific prediction results of the volume of the above-mentioned second material that the shoveling vehicle can scoop in the scooping stage. Therefore, in order to improve the accuracy of the prediction results of the above-mentioned second material volume, it can be assumed that "the shoveling vehicle scoops materials according to the preset shoveling strategy at the current moment". The volume of the above-mentioned second material that the shoveling vehicle can scoop in the scooping stage in the future can be predicted (equivalent to adding "preset shoveling strategy" in the assumption condition will be more accurate than the above-mentioned second material volume obtained without limiting the specific shoveling strategy adopted).

[0042] Specifically, as an optional embodiment, according to the material type of the material currently shoveling, a shoveling strategy matching the material type can be determined as the above-mentioned preset shoveling strategy; for example, if the above-mentioned material is an ordinary material that is easy to shovel (such as gravel), then the above-mentioned preset shoveling strategy can be determined as a conventional shoveling strategy suitable for shoveling the above-mentioned ordinary material; if the above-mentioned material is a difficult-to-shovel material that is more difficult to shovel (such as river sand), then the above-mentioned preset shoveling strategy can be determined as a drag reduction shoveling strategy suitable for shoveling the above-mentioned difficult-to-shovel material.

[0043] Specifically, taking into account the timeliness of the prediction and the fact that the conventional shoveling strategy is much more dependent on the second material volume predicted in the aforementioned step in the subsequent Scooping stage than the drag reduction shoveling strategy (in the conventional shoveling strategy, the arm of the shoveling vehicle is directly controlled to rise to a specified angle to complete the shoveling, and unlike the drag reduction shoveling strategy, the bucket is not controlled to continue to move forward. Therefore, according to the conventional shoveling strategy, the final material volume shoveled by the bucket in a single time after the subsequent Scooping stage is over will be more dependent on the second material volume predicted in the aforementioned step). Therefore, as another optional embodiment, it is also possible to directly determine the above-mentioned conventional shoveling strategy as the above-mentioned preset shoveling strategy without distinguishing the specific material type of the currently scooped material.

[0044] It should be noted that, in the embodiment of the present application, the above-mentioned shoveling vehicle refers to an operating vehicle that performs shoveling operations on materials, wherein the above-mentioned shoveling vehicle can be an unmanned loader, or it can be other vehicles such as an excavator that can perform shoveling operations. The embodiment of the present application does not impose any limitation on the specific vehicle type to which the above-mentioned shoveling vehicle belongs.

[0045] S102, when it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, according to the material type to which the material belongs, the shoveling vehicle is controlled to shovel the material according to the target shoveling strategy matching the material type until the bucket of the shoveling vehicle leaves the material surface.

[0046] It should be noted that in order to meet the task requirements of high-precision shoveling tasks that require precise control of the shoveling ratios of different materials, the above-mentioned target material volume can represent the volume of material shoveled by the bucket in a single shoveling set by the user, that is, the above-mentioned target material volume can be set according to the actual control needs of the user. If the user is more concerned about the full bucket rate of the bucket, the above-mentioned target material volume can also be set to the full bucket volume of the above-mentioned bucket. The specific value of the above-mentioned target material volume is not limited in any way in the embodiment of the present application.

[0047] Here, when it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, the shoveling vehicle can be controlled to switch from the Crowding stage to the Scooping stage; wherein, when controlling the shoveling vehicle to enter the Scooping stage, the shoveling vehicle can be flexibly controlled according to the material type to which the material belongs to scoop material in the Scooping stage according to the target scooping strategy matching the above material type, until the bucket of the shoveling vehicle leaves the material surface, and then it can be determined that the Scooping stage is ended and the single scooping process of the bucket is completed.

[0048] Specifically, when executing step S102, when the above-mentioned material belongs to ordinary material, the target shoveling strategy matching the ordinary material can be determined as the above-mentioned conventional shoveling strategy. At this time, the shoveling vehicle can be controlled to shovel according to the conventional shoveling strategy matching the ordinary material in the Scooping stage.

[0049] Here, as an optional embodiment, the method shown in the following step a1 can be used to control the shoveling vehicle to shovel materials according to a conventional shoveling strategy that matches ordinary materials. Specifically:

[0050] Step a1, controlling the shoveling vehicle to first rotate and retract the bucket to a first specified angle, and then raising the machine arm to a second specified angle to end shoveling.

[0051] It should be noted that the first specified angle is different from the second specified angle, that is, when controlling the shoveling vehicle to shovel according to the conventional shoveling strategy, the angle of rotating and retracting the bucket (that is, the first specified angle) is different from the angle of lifting the arm, wherein the specific angle values ​​corresponding to the first specified angle and the second specified angle can be set according to the actual conventional shoveling requirements, and the embodiment of the present application does not impose any limitation on this.

[0052] Exemplary description, Figure 3a FIG. 1 shows a schematic diagram of a machine arm posture change mode corresponding to a conventional shoveling strategy of a shoveling vehicle provided in an embodiment of the present application, such as Figure 3a As shown, Figure 3a The solid line in the middle shows the tip mark of the bucket. Figure 3a The dashed line in the middle represents the surface of the material, where Figure 3a As shown by the solid line in the figure, when the shoveling vehicle shovels materials according to the conventional shoveling strategy, the corresponding arm posture change mode of the shoveling vehicle is: first rotate and retract the bucket to reach the first specified angle, and then lift the arm to reach the second specified angle (the arm lifting angle is not shown in the figure) to complete the shoveling.

[0053] Specifically, when executing step S102, when the above-mentioned material is a difficult-to-scoop material, the target scooping strategy matching the difficult-to-scoop material can be determined as the above-mentioned drag reduction scooping strategy. At this time, the shoveling vehicle can be controlled to scoop materials according to the drag reduction scooping strategy matching the difficult-to-scoop material during the Scooping stage.

[0054] Here, as an optional embodiment, the method shown in the following steps b1-b3 can be used to control the shoveling vehicle to shovel materials according to the drag reduction shoveling strategy that matches the difficult-to-shovel materials. Specifically:

[0055] Step b1, controlling the shovel loader to slightly lift its arm and retract the bucket at a target angle, updating the value of the first material volume at the current moment, and determining whether the updated first material volume is greater than or equal to the target material volume.

[0056] Here, when controlling the shovel loader to slightly lift its arm, the shovel loader can be controlled to lift its arm at a smaller preset angle, wherein the specific value of the above preset angle can be set according to the actual drag reduction shoveling requirements, and this embodiment of the application does not impose any limitation on this.

[0057] Here, when controlling the shoveling vehicle to retract the bucket, the specific value of the above-mentioned target angle for controlling the retraction of the bucket can be set according to the actual drag reduction and shoveling material demand, and the embodiment of the present application does not impose any limitation on this.

[0058] Specifically, the above-mentioned step S101 can be repeatedly executed to update the value of the above-mentioned first material volume at the current moment, and the updated first material volume is obtained as the volume of the material actually shoveled in the current bucket, so as to determine whether the updated first material volume is greater than or equal to the target material volume, so as to determine whether the volume of the material actually shoveled in the bucket during the drag reduction shoveling process has met the above-mentioned target material volume preset by the user (which is also equivalent to determining whether the shoveling can be ended).

[0059] Step b2: If the updated volume of the first material is greater than or equal to the target material volume, the shoveling vehicle is controlled to level the bucket and end shoveling.

[0060] Here, in the process of drag reduction shoveling, after the bucket is folded, the shoveling vehicle can be controlled to stop for a while (mainly to wait for the material surface to change), so as to update the value of the above-mentioned first material volume during the stay time, and obtain the updated first material volume as the actual shoveled material volume in the current bucket.

[0061] Specifically, if it is detected that the volume of material actually shoveled in the current bucket (i.e., the first material volume after the update) is greater than or equal to the target material volume, then based on the fact that the volume of material shoveled in the bucket has met the target material volume pre-set by the user, the shoveling vehicle can be controlled to end the drag reduction shoveling at this time (i.e., the shoveling vehicle can be controlled to level the bucket and end shoveling).

[0062] Step b3: If the updated volume of the first material is smaller than the target material volume, control the shovel-loading vehicle to repeat the action of retracting the bucket according to the target angle and the step of judging based on the first material volume updated at the current moment, until the updated volume of the first material is greater than or equal to the target material volume or the number of times the bucket is retracted is greater than or equal to a preset number of times.

[0063] Here, referring to the relevant instructions of the above-mentioned step b2, during the above-mentioned dwelling time after the bucket is folded, if it is detected that the volume of material actually shoveled in the current bucket (i.e., the updated first material volume) is smaller than the above-mentioned target material volume, the shoveling vehicle can be controlled to repeat the action of folding the bucket in the above-mentioned step b1 (i.e., the action of folding the bucket at the target angle), and after folding the bucket, repeat the step of updating the value of the first material volume during the dwelling time in the above-mentioned step b1, and judging whether the updated first material volume is greater than or equal to the target material volume (i.e., the step of judging according to the updated first material volume at the current moment), until the volume of material shoveled in the bucket meets the above-mentioned target material volume preset by the user (i.e., the updated first material volume is greater than or equal to the target material volume), then the shoveling vehicle can be controlled to end the drag reduction shoveling at this time (i.e., the shoveling vehicle is controlled to flatten the bucket and end the shoveling).

[0064] Specifically, considering that in the actual process of drag reduction shoveling, it is difficult to shovel difficult-to-shovel materials, it may happen that after the bucket is repeatedly folded up, the volume of material actually shoveled in the bucket (the updated first material volume) still cannot meet the above-mentioned target material volume pre-set by the user (that is, it is always smaller than the above-mentioned target material volume). Based on this, in order to improve the shoveling efficiency, when executing step b3, in addition to determining whether the updated first material volume is greater than or equal to the target material volume, it is also possible to determine whether the number of times the bucket is folded is greater than or equal to the preset number of times, to ensure that even if the material is difficult to shovel, the number of times the bucket is folded will not exceed the above-mentioned preset number, to avoid the abnormality of being unable to continue the operation due to continuous and repeated folding of the bucket.

[0065] It should be noted that the target angle corresponding to each folding of the bucket can also be determined based on the angle between the material surface and the ground and the preset number of times. For example, if the angle between the material surface and the ground is 60°, and the preset number of times is 3, the target angle can be 20°; wherein, the specific value of the preset number of times can be set according to the actual drag reduction shoveling requirements, and the embodiment of the present application does not impose any limitation on this.

[0066] Exemplary description, Figure 3b A schematic diagram showing a change in the posture of the arm of a shoveling vehicle corresponding to a drag reduction shoveling strategy provided by an embodiment of the present application is shown. Figure 3b The solid line in the middle shows the tip mark of the bucket. Figure 3b The dashed line in the middle represents the surface of the material, where Figure 3b As shown by the solid line in , when the shoveling vehicle shovels the material according to the drag reduction shoveling strategy, the arm posture change mode of the shoveling vehicle is: first slightly lift the arm, then retract the bucket according to the target angle, stay for a while, update the value of the first material volume, and judge whether the updated first material volume is greater than or equal to the target material volume, or judge whether the number of times the bucket is retracted is greater than or equal to the preset number. If the updated first material volume is less than the target material volume or the number of times the bucket is retracted is less than the preset number, repeat the above steps (just no longer lift the arm) until the updated first material volume is greater than or equal to the target material volume or the number of times the bucket is retracted is greater than or equal to the preset number.

[0067] It should be noted that in the embodiment of the present application, the difficulty of shoveling common materials is lower than that of difficult-to-shovel materials, wherein common materials may be gravel, etc., and difficult-to-shovel materials may be river sand, etc.; the embodiment of the present application does not impose any limitation on the specific materials represented by the above-mentioned common materials and the above-mentioned difficult-to-shovel materials, respectively.

[0068] It should be noted that in the embodiments of the present application, regardless of whether the shoveling vehicle is controlled to shovel according to the drag reduction shoveling strategy or the conventional shoveling strategy, during the shoveling process, a throttle control command can be remotely sent to the shoveling vehicle to control the shoveling vehicle to execute the throttle action according to the throttle control command, thereby driving the shoveling vehicle forward; or no control command may be sent, and only the traction force generated by the change in the arm posture and the change in the bucket retraction angle during the shoveling process may be relied upon to drive the shoveling vehicle forward slightly (even the shoveling vehicle may not move); the embodiments of the present application do not impose any limitation on the specific forward distance of the shoveling vehicle during the shoveling process and whether the shoveling vehicle needs to be controlled to move forward.

[0069] It should be noted that the reference Figure 3a and Figure 3bAs shown, the shoveling vehicle has different arm posture change modes in the drag reduction shoveling strategy and the conventional shoveling strategy respectively. The embodiment of the present application does not impose any limitation on the height of each slight lift of the arm of the shoveling vehicle in the drag reduction shoveling strategy and the specific dwell time of each slight stop; and the embodiment of the present application also does not impose any limitation on the specific designated angle reached by the shoveling vehicle when raising the arm in the conventional shoveling strategy.

[0070] The specific implementation process of each of the above steps in the embodiment of the present application is described in detail below:

[0071] With respect to the specific implementation of the above step S101, when executing step S101, the volume of the first material in the current bucket of the shovel loading vehicle may be determined according to the method shown in the following steps c1-c2. Specifically:

[0072] Step c1, using the three-dimensional laser radar installed on the shovel-loading vehicle to collect laser positioning data of each point on the material surface, and establishing a material surface elevation map corresponding to the material surface based on the collected laser positioning data.

[0073] Here, in order to reduce the obstruction of the field of vision, a three-dimensional laser radar can be installed on the top of the cabin of the shovel-loader vehicle. The three-dimensional laser radar can sense the surface information of the material and perform global positioning of the shovel-loader vehicle and the material.

[0074] Specifically, the laser positioning data (i.e., laser point cloud information) of each point on the surface of the material is collected by the three-dimensional laser radar, and the laser positioning data located in the coordinate system L is obtained, wherein the coordinate system L represents a coordinate system established with the installation position of the three-dimensional laser radar as the origin. In order to improve the subsequent calculation accuracy of the volume of the first material, the transformation matrix The above-mentioned laser positioning data is converted from the above-mentioned coordinate system L to the vehicle coordinate system R (the coordinate system corresponding to the body steering axis of the shovel-loader vehicle), so as to filter out the invalid laser positioning data projected on the vehicle body (that is, the coordinate information in the vehicle coordinate system R is between the body steering axis and the above-mentioned rear end) and the arm (that is, the coordinate information in the vehicle coordinate system R is between the body steering axis and the left and right edge points of the bucket) from the above-mentioned laser positioning data after coordinate conversion according to the coordinate information of the left and right edge points of the bucket in the vehicle coordinate system R, the coordinate information of the body steering axis of the shovel-loader vehicle in the vehicle coordinate system R, and the coordinate information of the rear end of the shovel-loader vehicle in the vehicle coordinate system R, and after the filtered remaining laser positioning data is transformed from the above-mentioned vehicle coordinate system R back to the original above-mentioned coordinate system L, the above-mentioned material surface elevation map is established according to the remaining laser positioning data after filtering and coordinate transformation.

[0075] Exemplary description, Figure 4A schematic diagram of a material surface elevation map provided in an embodiment of the present application is shown, such as Figure 4 As shown, the material surface elevation map is composed of uniformly discretized squares, each of which corresponds to its own position information and ground height information (the position information and ground height information located in the above-mentioned coordinate system L); wherein the side length of each square in the material surface elevation map is equal to the resolution ε of the material surface elevation map.

[0076] Step c2: determining the volume of the first material in the current bucket of the shovel loading vehicle according to the area of ​​the area where the tooth tip of the bucket passes in the material surface elevation map and the insertion depth of the bucket in the material.

[0077] Here, in addition to the coordinate system L corresponding to the material surface elevation map and the vehicle coordinate system R (the coordinate system corresponding to the steering axis of the shovel-loader vehicle), the arm root coordinate system M can also be established by taking the arm root of the shovel-loader vehicle as the origin. By calculating the coordinates of the left and right edge points of the bucket (i.e., the tooth tips of the left and right edges) in the arm root coordinate system M in real time and converting the coordinates to the world coordinate system W, the height d of the tooth tip on the bucket relative to the ground can be obtained. O (i.e., the z-axis coordinate value corresponding to the above coordinate in the world coordinate system W), and after converting the coordinate to the coordinate system L corresponding to the material surface elevation map, the height d of the bucket tooth tip relative to the ground in the material surface elevation map can be obtained. g (i.e. the z-axis coordinate value corresponding to the above coordinates in the coordinate system L), if d O Less than or equal to d g , it is considered that the bucket tooth tip has been inserted below the material surface, and the insertion depth is d = d g -d O , record the jth grid position mark of the i-th tooth tip of the bucket in the area passed by in the material surface elevation map during the shoveling process and the insertion depth of the i-th tooth tip in the material The first material volume V1 can be calculated according to the following formula 1, specifically:

[0078]

[0079] Among them, the value range of i is 0 to N, N represents the total number of tooth tips in the bucket;

[0080] The value range of j is 0 to n, where n represents the total number of grids in the area where the tooth tip of the bucket passes through in the material surface elevation map;

[0081] ε represents the resolution of the material surface elevation map, which is also equivalent to the side length of each grid in the material surface elevation map.

[0082] here, Figure 5 A schematic diagram of the arm structure modeling of a shovel-loading vehicle provided in an embodiment of the present application is shown. Figure 5The angles and coordinates of each point marked in the figure can be used to calculate the coordinates of the left and right edge points (i.e., the tooth tips of the left and right edges) of the bucket in the arm root coordinate system M as follows:

[0083] like Figure 5 As shown, a tilt sensor T1 and T2 are respectively installed on the arm and bucket of the shovel-loading vehicle, and the two tilt sensors can be rigidly connected to the corresponding components at will, so that the tilt angles of the corresponding tilt sensor components relative to the ground plane (i.e., angle T1MD and angle T2AH2) can be measured in real time;

[0084] Based on this, the conversion equations of the tilt sensor measurement angle α1 (i.e. angle T1MD) α2 (i.e. angle T2AH2) and the model joint angles θ1 (i.e. angle AMD) and θ2 (i.e. angle MAB) can be established as shown in the following formula 2-4:

[0085] θ1= α1- k Formula 2;

[0086] θ2= α2- α1+m Formula 3;

[0087] θ2 = angle MAB = angle MAT2 - angle T2AB = angle MAH2 + angle T2AH2 - angle T2AB

[0088] = angle MAD + angle DAH2 + angle T2AH2 - angle T2AB

[0089] =90°-angle AMD+90°+α2-angle T2AB

[0090] =180°-(angle T1MD-angle T1MA)+α2-angle T2AB

[0091] =α2-α1+180°+angle T1MA-angle T2AB Formula 4;

[0092] Where k represents the angle T1MA;

[0093] m represents 180° + angle T1MA - angle T2AB;

[0094] k and m are pre-calibrated constants (ie, as long as the installation positions of the inclination sensors T1 and T2 remain unchanged, the values ​​of k and m remain unchanged).

[0095] Based on the above formula 2-4, the x-axis and z-axis coordinates of the bucket tooth tip center point B in the arm root coordinate system M can be calculated according to the following formula 5-6:

[0096]

[0097] Among them, the coordinates of the points on the left and right edges of the bucket in the M coordinate system can be expressed as The above wk represents the width of the bucket.

[0098] Here, after obtaining the coordinates of the points on the left and right edges of the bucket in the M coordinate system, if you want to obtain the coordinates of the points on the left and right edges of the bucket in the W coordinate system based on the spatial coordinate conversion method, you need to determine the coordinate conversion relationship between the coordinate system L corresponding to the above-mentioned material surface elevation map, the vehicle coordinate system R, and the M coordinate system.

[0099] Specifically, Figure 6a A side view of a shovel-loading vehicle provided in an embodiment of the present application is shown. Figure 6b A top view of a shovel-loading vehicle provided in an embodiment of the present application is shown, wherein: Figure 6a as well as Figure 6b The shovel loading vehicle shown shows the relevant parameters in the coordinate system L, vehicle coordinate system R and M coordinate system corresponding to the above material surface elevation map, specifically:

[0100] Reference Figure 6a as well as Figure 6b As shown, the body steering shaft is a component connecting the steering wheel and the steering gear in the shovel-loading vehicle. Its main function is to transmit the steering torque applied on the steering wheel to the steering gear to control the steering of the shovel-loading vehicle. The projection point of the body steering shaft on the ground is taken as the origin, the direction of the body steering shaft is taken as the z-axis direction, the direction parallel to the horizontal distance mx between the body steering shaft and the root of the machine arm is taken as the x-axis direction, and the direction perpendicular to the horizontal distance mx between the body steering shaft and the root of the machine arm is taken as the y-axis direction. The body steering shaft coordinate system is established and recorded as R (i.e. the above-mentioned vehicle coordinate system);

[0101] Reference Figure 6a as well as Figure 6b As shown, the root of the arm refers to the connection between the arm and the body of the shovel-loading vehicle (i.e., the root position of the arm away from the bucket side). With the root of the arm as the origin, the direction parallel to the steering axis of the vehicle body as the z-axis direction, the direction parallel to the horizontal distance mx from the steering axis of the vehicle body to the root of the arm as the x-axis direction, and the direction perpendicular to the horizontal distance mx from the steering axis of the vehicle body to the root of the arm as the y-axis direction, the arm root coordinate system is established and recorded as M (i.e., the vehicle coordinate system mentioned above);

[0102] Among them, refer to Figure 6a as well as Figure 6b As shown, the coordinates of the points on the left and right edges of the bucket in the W coordinate system can be calculated as follows:

[0103] like Figure 6a as well as Figure 6bAs shown, the arm joint length is 1m, the bucket joint length is lk; the horizontal distance between the body steering axis and the arm root is mx, the vertical distance between the body steering axis and the arm root is mz, the arm root coordinate system is denoted as M, and the body steering axis coordinate system is denoted as R (i.e. the above vehicle coordinate system); the three-dimensional laser radar is installed on the top of the shovel loading vehicle to calculate the shovel loading vehicle positioning information in real time The coordinate system corresponding to the collected laser positioning data is denoted as L. The horizontal distance between the coordinate system L and the coordinate system R is lx, and the vertical distance is lz. The bucket width is wk, and the steering angle is denoted as ω (obtained in real time by the angle sensor hardware installed on the steering shaft).

[0104] exist Figure 6a as well as Figure 6b Based on the above three coordinate systems shown, the 4x4 space coordinate transformation matrix composed of the displacement vector (x, y, z) and the three-axis Euler angle (roll, pitch, yaw) is defined as T(x, y, z, roll, pitch, yaw);

[0105] in,

[0106]

[0107] Then the real-time coordinate transformation matrix from the arm root coordinate system M to the world coordinate system W is

[0108]

[0109] Based on the above real-time coordinate transformation matrix, the coordinates of the points on the left and right edges of the bucket in the M coordinate system can be Convert to the world coordinate system W and get the points on the left and right edges of the bucket at the W coordinate system.

[0110] The coordinates in the standard system are Among them, the coordinates of each point on the bucket edge that is evenly discrete in the world coordinate system W can also be calculated as: where y i It is the offset of a series of evenly distributed discrete excavation points selected at the bucket tooth tip from the center of the bucket (theoretically, the interval between points should be smaller than the resolution ε of the above-mentioned material surface elevation map).

[0111] With respect to the specific implementation of the above step S101, when executing step S101, the method shown in the following steps d1-d2 can be used to predict the volume of the second material that can be loaded by the shoveling vehicle at the current moment according to the preset shoveling strategy. Specifically:

[0112] Step d1, inputting external factor information related to the shoveling environment of the bucket into a pre-trained target model, and using the target model to predict the target driving distance that the shoveling vehicle is expected to travel at the current moment when shoveling according to a preset shoveling strategy.

[0113] Here, the external factor information includes at least one of the following: the current speed of the shovel-loading vehicle, the volume of the first material, the material type to which the material belongs, and the material surface height corresponding to the discrete points on the surface of the material.

[0114] It should be noted that, in addition to the above-mentioned external factor information, the material surface height, material surface shape, and material surface dryness and wetness may affect the amount of resistance encountered by the bucket when scooping materials. Therefore, the material surface height, material surface shape, and material surface dryness and wetness can also be used as external factor information related to the shoveling environment of the bucket; the embodiments of the present application do not impose any limitation on the specific information content of the above-mentioned external factor information.

[0115] Specifically, the target model mainly simulates the shoveling environment of the bucket by inputting the above external factor information, so as to predict the target driving distance that the shoveling vehicle is expected to move forward at the current moment according to the preset shoveling strategy in the simulated shoveling environment.

[0116] It should be noted that, during the model training stage, historical external factor information related to the shoveling environment can be input into the target model, and the target model can be used to predict the target driving distance that the shoveling vehicle is expected to move forward at the current moment according to the preset shoveling strategy. The target model is trained based on the loss between the predicted target driving distance and the actual driving distance of the shoveling vehicle obtained by actual measurement until the target model converges.

[0117] Step d2: Determine the volume of the second material according to the material that can be shoveled by the shoveling vehicle advancing the target driving distance in the material at the current moment according to the arm posture change mode in the preset shoveling strategy.

[0118] Here, in addition to the above-mentioned target driving distance, the arm posture change mode of the shovel loading vehicle in the preset shovel loading strategy is known information (refer to Figure 3a-Figure 3b As shown), the material situation in front of the shoveling vehicle can be determined based on the material surface elevation map (also known information). Therefore, after obtaining the target driving distance predicted by the target model, the area of ​​the area where the tooth tip of the bucket passes through in the material surface elevation map can be determined based on the target driving distance and the material surface elevation map, and the insertion depth of the bucket in the material can be determined based on the arm posture change mode of the shoveling vehicle in the preset shoveling strategy, so that the second material volume can be predicted according to Formula 1 shown in the above step c2.

[0119] On the basis of the above steps S101-S102, after executing the above step S101, when the vehicle control unit detects that the sum of the first material volume and the second material volume is less than the target material volume, the shoveling vehicle can be controlled to enter the Scooping stage according to the method shown in the following steps e1-e4, specifically:

[0120] Step e1: when it is detected that the sum of the first material volume and the second material volume is smaller than the target material volume, judging whether the shovel loading vehicle has a jamming abnormality according to the stacking state of the materials and the vehicle information of the shovel loading vehicle.

[0121] Here, specific abnormal conditions that can indicate that the shoveling vehicle is stuck can be quantified in advance based on the stacking status of the materials and the vehicle information of the shoveling vehicle; wherein, as an optional embodiment, the above-mentioned abnormal condition can be that the currently determined volume of the above-mentioned first material is greater than 0 (that is, the shoveling vehicle has contacted the material) and the speed of the shoveling vehicle is close to 0 (equivalent to the shoveling vehicle may stagnate or get stuck because the material is difficult to shovel).

[0122] It should be noted that the above-mentioned abnormal conditions are only used to represent a specific example in which a material that is difficult to shovel may cause a jamming abnormality (causing the subsequent links to be unable to proceed). For example, when the surface humidity of the material exceeds a certain threshold, it may also cause the shoveling vehicle to become jammed. The embodiments of the present application do not impose mandatory restrictions on the specific conditions of the above-mentioned abnormal conditions.

[0123] Step e2: if it is determined that the shoveling vehicle has a jamming abnormality, the shoveling vehicle is controlled to shovel materials according to a drag reduction shoveling strategy that matches the difficult-to-shovel materials until the bucket of the shoveling vehicle leaves the surface of the materials.

[0124] Here, if it is determined that there is a jamming abnormality in the shoveling vehicle (for example, the currently determined volume of the above-mentioned first material is greater than 0 and the speed of the shoveling vehicle is close to 0), the shoveling vehicle can be directly controlled to enter the scooping stage, and the shoveling vehicle can be controlled to scoop materials in a drag-reducing shoveling manner during the scooping stage. The main purpose is to provide a bottom-line measure to avoid stagnation in the overall shoveling process and improve the operating efficiency of the shoveling vehicle.

[0125] Step e3: if it is determined that the shovel loading vehicle does not have a stuck abnormality, then updating the values ​​of the first material volume and the second material volume at the current moment;

[0126] Here, if it is determined that there is no jamming abnormality in the shovel loading vehicle, the above step S101 can be repeated to update the values ​​of the above-mentioned first material volume and the above-mentioned second material volume at the current moment, so as to continue to judge whether the sum of the updated first material volume and the updated second material volume reaches the target material volume.

[0127] Step e4: when it is detected that the sum of the updated first material volume and the updated second material volume is greater than or equal to the target material volume, according to the material type to which the material belongs, the shoveling vehicle is controlled to shovel the material according to the target shoveling strategy that matches the material type until the bucket of the shoveling vehicle leaves the material surface.

[0128] Here, the specific implementation of step e4 can refer to the specific implementation of the aforementioned step S102, and the repeated parts will not be repeated here.

[0129] Based on the shoveling method of the above-mentioned materials provided in the embodiment of the present application, in response to the shoveling vehicle contacting the material, the volume of the first material in the current bucket of the shoveling vehicle is determined, and the volume of the second material that the shoveling vehicle can load at the current moment according to the preset shoveling strategy is predicted; when it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, according to the material type to which the material belongs, the shoveling vehicle is controlled to shovel the material according to the target shoveling strategy that matches the material type until the bucket of the shoveling vehicle leaves the surface of the material. In this way, while meeting the full bucket rate and operating efficiency of unmanned shoveling, the present application can also flexibly allocate the target shoveling strategy suitable for the current shoveling material for different types of materials, and can accurately control the material volume of a single shoveling to tend to the preset target material volume, which can meet the task requirements of high-precision shoveling tasks that require precise control of the shoveling ratio of different materials.

[0130] Based on the same inventive concept, the present application also provides a shoveling device corresponding to the above-mentioned material shoveling method. Since the principle of solving the problem by the shoveling device in the embodiment of the present application is similar to the shoveling method of the above-mentioned material in the embodiment of the present application, the implementation of the shoveling device can refer to the implementation of the above-mentioned shoveling method, and the repeated parts will not be repeated.

[0131] Reference Figure 7 As shown, Figure 7 The schematic diagram of the structure of a material shoveling device provided in an embodiment of the present application is shown, wherein the shoveling device comprises:

[0132] The prediction module 701 is used to determine the volume of the first material in the current bucket of the shovel loader in response to the shovel loader contacting the material, and predict the volume of the second material that the shovel loader can load at the current moment according to the preset shoveling strategy;

[0133] The detection module 702 is used to control the shoveling vehicle to shovel materials according to the target shoveling strategy matching the material type when it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, according to the material type to which the materials belong, until the bucket of the shoveling vehicle leaves the material surface.

[0134] In an optional implementation, when determining the first material volume in the current bucket of the shovel loading vehicle, the prediction module 701 is used to:

[0135] The three-dimensional laser radar installed on the shovel-loading vehicle collects laser positioning data of each point on the surface of the material, and establishes a material surface elevation map corresponding to the material surface according to the collected laser positioning data;

[0136] The first material volume in the current bucket of the shovel loading vehicle is determined according to the area of ​​the region where the tooth tip in the bucket passes in the material surface elevation map and the insertion depth of the bucket in the material.

[0137] In an optional implementation, when predicting the second material volume that can be loaded by the shoveling vehicle at the current moment according to the preset shoveling strategy, the prediction module 701 is used to:

[0138] Inputting external factor information related to the shoveling environment of the bucket into a pre-trained target model, and predicting the target driving distance that the shoveling vehicle is expected to travel at the current moment according to a preset shoveling strategy by using the target model;

[0139] The volume of the second material is determined according to the arm posture change mode of the shoveling vehicle in accordance with the preset shoveling strategy, and the material that can be shoveled by advancing the target driving distance in the material at the current moment.

[0140] In an optional implementation, the external factor information includes at least one of the following: the current speed of the shovel-loading vehicle, the volume of the first material, the material type to which the material belongs, and the material surface height corresponding to discrete points on the material surface.

[0141] In an optional implementation, when the shoveling vehicle is controlled to shovel materials according to a target shoveling strategy matching the material type according to the material type, the detection module 702 is used to:

[0142] When the material is a difficult-to-shovel material, controlling the shoveling vehicle to shovel the material according to a drag-reducing shoveling strategy that matches the difficult-to-shovel material;

[0143] or,

[0144] When the material is ordinary material, the shoveling vehicle is controlled to shovel the material according to a conventional shoveling strategy that matches the ordinary material; wherein the shoveling difficulty of the ordinary material is lower than that of the difficult-to-shovel material, and the shoveling vehicle corresponds to different arm posture change modes in the drag reduction shoveling strategy and the conventional shoveling strategy respectively.

[0145] In an optional implementation, when controlling the shoveling vehicle to shovel materials according to the drag reduction shoveling strategy matching the difficult-to-shovel materials, the detection module 702 is used to:

[0146] Control the shovel loader to slightly raise its arm and retract the bucket at a target angle, update the value of the first material volume at a current moment, and determine whether the updated first material volume is greater than or equal to the target material volume;

[0147] If the updated first material volume is greater than or equal to the target material volume, controlling the shoveling vehicle to level the bucket and end shoveling;

[0148] If the updated volume of the first material is smaller than the target material volume, the shovel loading vehicle is controlled to repeat the action of retracting the bucket according to the target angle and the step of judging based on the first material volume updated at the current moment, until the updated volume of the first material is greater than or equal to the target material volume or the number of times the bucket is retracted is greater than or equal to a preset number of times.

[0149] In an optional implementation, when controlling the shoveling vehicle to shovel materials according to a conventional shoveling strategy matching ordinary materials, the detection module 702 is used to:

[0150] The shoveling vehicle is controlled to first rotate and retract the bucket to a first specified angle, and then lift the machine arm to a second specified angle to end shoveling.

[0151] In an optional embodiment, the shovel loading device further includes: a judgment module, wherein the judgment module is used to:

[0152] When it is detected that the sum of the volume of the first material and the volume of the second material is less than the target material volume, judging whether the shovel loading vehicle has a jamming abnormality according to the stacking state of the materials and the vehicle information of the shovel loading vehicle;

[0153] If it is determined that the shoveling vehicle has a jamming abnormality, the shoveling vehicle is controlled to shovel materials according to a drag reduction shoveling strategy that matches the difficult-to-shovel materials until the bucket of the shoveling vehicle leaves the surface of the materials.

[0154] In an optional implementation, the judgment module is further used to:

[0155] If it is determined that the shovel loading vehicle does not have a stuck abnormality, updating the values ​​of the first material volume and the second material volume at the current moment;

[0156] When it is detected that the sum of the updated first material volume and the updated second material volume is greater than or equal to the target material volume, the shoveling vehicle is controlled to shovel the material according to the material type to which the material belongs, according to the target shoveling strategy matching the material type, until the bucket of the shoveling vehicle leaves the material surface.

[0157] Based on the shoveling device of the above-mentioned material provided in the embodiment of the present application, in response to the shoveling vehicle contacting the material, the volume of the first material in the current bucket of the shoveling vehicle is determined, and the volume of the second material that the shoveling vehicle can load at the current moment according to the preset shoveling strategy is predicted; when it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, according to the material type to which the material belongs, the shoveling vehicle is controlled to shovel the material according to the target shoveling strategy that matches the material type until the bucket of the shoveling vehicle leaves the surface of the material. In this way, while meeting the full bucket rate and operating efficiency of unmanned shoveling, the present application can also flexibly allocate the target shoveling strategy suitable for the current shoveling material for different types of materials, and can accurately control the material volume of a single shoveling to tend to the preset target material volume, which can meet the task requirements of high-precision shoveling tasks that require precise control of the shoveling ratio of different materials.

[0158] Based on the same inventive concept, the present application also provides an electronic device corresponding to the above-mentioned material shoveling method. Since the principle of solving the problem by the electronic device in the embodiment of the present application is similar to the above-mentioned material shoveling method in the embodiment of the present application, the implementation of the electronic device can refer to the implementation of the above-mentioned shoveling method, and the repeated parts will not be repeated.

[0159] Figure 8 A structural diagram of an electronic device 800 provided in an embodiment of the present application includes: a processor 801, a memory 802 and a bus 803, wherein the memory 802 stores machine-readable instructions executable by the processor 801. When the electronic device runs a material shoveling method as in the embodiment, the processor 801 communicates with the memory 802 via the bus 803, and the processor 801 executes the machine-readable instructions. When the processor 801 executes the machine-readable instructions, the following steps are implemented, specifically:

[0160] In response to the shoveling vehicle contacting the material, determining a first material volume currently in the shovel of the shoveling vehicle, and predicting a second material volume that the shoveling vehicle can load at the current moment according to a preset shoveling strategy;

[0161] When it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, the shoveling vehicle is controlled to shovel the material according to the material type to which the material belongs, according to the target shoveling strategy matching the material type, until the bucket of the shoveling vehicle leaves the material surface.

[0162] In an optional implementation, when determining the first material volume in the current bucket of the shovel loading vehicle, the processor 801 is configured to:

[0163] The three-dimensional laser radar installed on the shovel-loading vehicle collects laser positioning data of each point on the surface of the material, and establishes a material surface elevation map corresponding to the material surface according to the collected laser positioning data;

[0164] The first material volume in the current bucket of the shovel loading vehicle is determined according to the area of ​​the region where the tooth tip in the bucket passes in the material surface elevation map and the insertion depth of the bucket in the material.

[0165] In an optional implementation, when predicting the second material volume that can be loaded by the shoveling vehicle at the current moment according to the preset shoveling strategy, the processor 801 is used to:

[0166] Inputting external factor information related to the shoveling environment of the bucket into a pre-trained target model, and predicting the target driving distance that the shoveling vehicle is expected to travel at the current moment according to a preset shoveling strategy by using the target model;

[0167] The volume of the second material is determined according to the arm posture change mode of the shoveling vehicle in accordance with the preset shoveling strategy, and the material that can be shoveled by advancing the target driving distance in the material at the current moment.

[0168] In an optional implementation, the external factor information includes at least one of the following: the current speed of the shovel-loading vehicle, the volume of the first material, the material type to which the material belongs, and the material surface height corresponding to discrete points on the material surface.

[0169] In an optional implementation, when controlling the shoveling vehicle to shovel materials according to a target shoveling strategy matching the material type according to the material type, the processor 801 is configured to:

[0170] When the material is a difficult-to-shovel material, controlling the shoveling vehicle to shovel the material according to a drag-reducing shoveling strategy that matches the difficult-to-shovel material;

[0171] or,

[0172] When the material is ordinary material, the shoveling vehicle is controlled to shovel the material according to a conventional shoveling strategy that matches the ordinary material; wherein the shoveling difficulty of the ordinary material is lower than that of the difficult-to-shovel material, and the shoveling vehicle corresponds to different arm posture change modes in the drag reduction shoveling strategy and the conventional shoveling strategy respectively.

[0173] In an optional implementation, when controlling the shoveling vehicle to shovel materials according to a drag reduction shoveling strategy that matches the difficult-to-shovel material, the processor 801 is used to:

[0174] Control the shovel loader to slightly raise its arm and retract the bucket at a target angle, update the value of the first material volume at a current moment, and determine whether the updated first material volume is greater than or equal to the target material volume;

[0175] If the updated first material volume is greater than or equal to the target material volume, controlling the shoveling vehicle to level the bucket and end shoveling;

[0176] If the updated volume of the first material is smaller than the target material volume, the shovel loading vehicle is controlled to repeat the action of retracting the bucket according to the target angle and the step of judging based on the first material volume updated at the current moment, until the updated volume of the first material is greater than or equal to the target material volume or the number of times the bucket is retracted is greater than or equal to a preset number of times.

[0177] In an optional implementation, when controlling the shoveling vehicle to shovel materials according to a conventional shoveling strategy matching common materials, the processor 801 is used to:

[0178] The shoveling vehicle is controlled to first rotate and retract the bucket to a first specified angle, and then lift the machine arm to a second specified angle to end shoveling.

[0179] In an optional implementation, the processor 801 is further configured to:

[0180] When it is detected that the sum of the volume of the first material and the volume of the second material is less than the target material volume, judging whether the shovel loading vehicle has a jamming abnormality according to the stacking state of the materials and the vehicle information of the shovel loading vehicle;

[0181] If it is determined that the shoveling vehicle has a jamming abnormality, the shoveling vehicle is controlled to shovel materials according to a drag reduction shoveling strategy that matches the difficult-to-shovel materials until the bucket of the shoveling vehicle leaves the surface of the materials.

[0182] In an optional implementation, the processor 801 is further configured to:

[0183] If it is determined that the shovel loading vehicle does not have a stuck abnormality, updating the values ​​of the first material volume and the second material volume at the current moment;

[0184] When it is detected that the sum of the updated first material volume and the updated second material volume is greater than or equal to the target material volume, the shoveling vehicle is controlled to shovel the material according to the material type to which the material belongs, according to the target shoveling strategy matching the material type, until the bucket of the shoveling vehicle leaves the material surface.

[0185] Through the electronic device provided in the embodiment of the present application, in response to the shoveling vehicle contacting the material, the volume of the first material in the current bucket of the shoveling vehicle is determined, and the volume of the second material that the shoveling vehicle can load at the current moment according to the preset shoveling strategy is predicted; when it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, according to the material type to which the material belongs, the shoveling vehicle is controlled to shovel the material according to the target shoveling strategy that matches the material type until the bucket of the shoveling vehicle leaves the surface of the material. In this way, while meeting the full bucket rate and operating efficiency of unmanned shoveling, the present application can also flexibly allocate the target shoveling strategy suitable for the current shoveling material for different types of materials, and can accurately control the material volume of a single shoveling to tend to the preset target material volume, which can meet the task requirements of high-precision shoveling tasks that require precise control of the shoveling ratio of different materials.

[0186] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program is executed when a processor is running, and the processor performs the following steps:

[0187] In response to the shoveling vehicle contacting the material, determining a first material volume currently in the shovel of the shoveling vehicle, and predicting a second material volume that the shoveling vehicle can load at the current moment according to a preset shoveling strategy;

[0188] When it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, the shoveling vehicle is controlled to shovel the material according to the material type to which the material belongs, according to the target shoveling strategy matching the material type, until the bucket of the shoveling vehicle leaves the material surface.

[0189] In an optional implementation, when determining the first material volume in the current bucket of the shovel-loading vehicle, the processor is configured to:

[0190] The three-dimensional laser radar installed on the shovel-loading vehicle collects laser positioning data of each point on the surface of the material, and establishes a material surface elevation map corresponding to the material surface according to the collected laser positioning data;

[0191] The first material volume in the current bucket of the shovel loading vehicle is determined according to the area of ​​the region where the tooth tip in the bucket passes in the material surface elevation map and the insertion depth of the bucket in the material.

[0192] In an optional implementation, when predicting the second material volume that can be loaded by the shoveling vehicle at the current moment according to a preset shoveling strategy, the processor is used to:

[0193] Inputting external factor information related to the shoveling environment of the bucket into a pre-trained target model, and predicting the target driving distance that the shoveling vehicle is expected to travel at the current moment according to a preset shoveling strategy by using the target model;

[0194] The volume of the second material is determined according to the arm posture change mode of the shoveling vehicle in accordance with the preset shoveling strategy, and the material that can be shoveled by advancing the target driving distance in the material at the current moment.

[0195] In an optional implementation, the external factor information includes at least one of the following: the current speed of the shovel-loading vehicle, the volume of the first material, the material type to which the material belongs, and the material surface height corresponding to discrete points on the material surface.

[0196] In an optional implementation, when, according to the material type to which the material belongs, the shoveling vehicle is controlled to shovel the material according to a target shoveling strategy that matches the material type, the processor is configured to:

[0197] When the material is a difficult-to-shovel material, controlling the shoveling vehicle to shovel the material according to a drag-reducing shoveling strategy that matches the difficult-to-shovel material;

[0198] or,

[0199] When the material is ordinary material, the shoveling vehicle is controlled to shovel the material according to a conventional shoveling strategy that matches the ordinary material; wherein the shoveling difficulty of the ordinary material is lower than that of the difficult-to-shovel material, and the shoveling vehicle corresponds to different arm posture change modes in the drag reduction shoveling strategy and the conventional shoveling strategy respectively.

[0200] In an optional implementation, when controlling the shoveling vehicle to shovel materials according to a drag reduction shoveling strategy that matches difficult-to-shovel materials, the processor is used to:

[0201] Control the shovel loader to slightly raise its arm and retract the bucket at a target angle, update the value of the first material volume at a current moment, and determine whether the updated first material volume is greater than or equal to the target material volume;

[0202] If the updated first material volume is greater than or equal to the target material volume, controlling the shoveling vehicle to level the bucket and end shoveling;

[0203] If the updated volume of the first material is smaller than the target material volume, the shovel loading vehicle is controlled to repeat the action of retracting the bucket according to the target angle and the step of judging based on the first material volume updated at the current moment, until the updated volume of the first material is greater than or equal to the target material volume or the number of times the bucket is retracted is greater than or equal to a preset number of times.

[0204] In an optional implementation, when controlling the shoveling vehicle to shovel materials according to a conventional shoveling strategy matching ordinary materials, the processor is used to:

[0205] The shoveling vehicle is controlled to first rotate and retract the bucket to a first specified angle, and then lift the machine arm to a second specified angle to end shoveling.

[0206] In an optional implementation, the processor is further configured to:

[0207] When it is detected that the sum of the volume of the first material and the volume of the second material is less than the target material volume, judging whether the shovel loading vehicle has a jamming abnormality according to the stacking state of the materials and the vehicle information of the shovel loading vehicle;

[0208] If it is determined that the shoveling vehicle has a jamming abnormality, the shoveling vehicle is controlled to shovel materials according to a drag reduction shoveling strategy that matches the difficult-to-shovel materials until the bucket of the shoveling vehicle leaves the surface of the materials.

[0209] In an optional implementation, the processor is further configured to:

[0210] If it is determined that the shovel loading vehicle does not have a stuck abnormality, updating the values ​​of the first material volume and the second material volume at the current moment;

[0211] When it is detected that the sum of the updated first material volume and the updated second material volume is greater than or equal to the target material volume, the shoveling vehicle is controlled to shovel the material according to the material type to which the material belongs, according to the target shoveling strategy matching the material type, until the bucket of the shoveling vehicle leaves the material surface.

[0212] Through the above-mentioned computer-readable storage medium provided by the embodiment of the present application, in response to the shoveling vehicle contacting the material, the volume of the first material in the current bucket of the shoveling vehicle is determined, and the volume of the second material that the shoveling vehicle can load at the current moment according to the preset shoveling strategy is predicted; when it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, according to the material type to which the material belongs, the shoveling vehicle is controlled to shovel the material according to the target shoveling strategy that matches the material type until the bucket of the shoveling vehicle leaves the surface of the material. In this way, while meeting the full bucket rate and operating efficiency of unmanned shoveling, the present application can also flexibly allocate the target shoveling strategy suitable for the current shoveling material for different types of materials, and can accurately control the material volume of a single shoveling to tend to the preset target material volume, which can meet the task requirements of high-precision shoveling tasks that require precise control of the shoveling ratio of different materials.

[0213] In an embodiment of the present application, the computer-readable storage medium can also execute other machine-readable instructions when run by the processor to execute the material shoveling method as described in other embodiments. For the specific steps and principles of the shoveling method, please refer to the description of the method side embodiment, which will not be repeated here.

[0214] In the embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. The system embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0215] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0216] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0217] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0218] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0219] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application. They should all be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for shoveling materials, characterized in that: The shoveling method comprises: In response to the shoveling vehicle contacting the material, determining a first material volume currently in the shovel of the shoveling vehicle, and predicting a second material volume that the shoveling vehicle can load at the current moment according to a preset shoveling strategy; When it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, the shoveling vehicle is controlled to shovel the material according to the material type to which the material belongs, according to the target shoveling strategy matching the material type, until the bucket of the shoveling vehicle leaves the material surface.

2. The shovel loading method according to claim 1, characterized in that: The determining of the first material volume in the current bucket of the shovel loading vehicle comprises: The three-dimensional laser radar installed on the shovel-loading vehicle collects laser positioning data of each point on the surface of the material, and establishes a material surface elevation map corresponding to the material surface according to the collected laser positioning data; The first material volume in the current bucket of the shovel loading vehicle is determined according to the area of ​​the region where the tooth tip in the bucket passes in the material surface elevation map and the insertion depth of the bucket in the material.

3. The shovel loading method according to claim 1, characterized in that: The predicting of the second material volume that can be loaded by the shoveling vehicle at the current moment according to the preset shoveling strategy includes: Inputting external factor information related to the shoveling environment of the bucket into a pre-trained target model, and predicting the target driving distance that the shoveling vehicle is expected to travel at the current moment according to a preset shoveling strategy by using the target model; The volume of the second material is determined according to the arm posture change mode of the shoveling vehicle in accordance with the preset shoveling strategy, and the material that can be shoveled by advancing the target driving distance in the material at the current moment.

4. The shovel loading method according to claim 3, characterized in that: The external factor information includes at least one of the following: the current speed of the shovel-loading vehicle, the volume of the first material, the material type to which the material belongs, and the material surface height corresponding to the discrete points on the material surface.

5. The shovel loading method according to claim 1, characterized in that: According to the material type to which the material belongs, controlling the shoveling vehicle to shovel the material according to a target shoveling strategy matching the material type includes: When the material is a difficult-to-shovel material, controlling the shoveling vehicle to shovel the material according to a drag-reducing shoveling strategy that matches the difficult-to-shovel material; or, When the material is ordinary material, the shoveling vehicle is controlled to shovel the material according to a conventional shoveling strategy that matches the ordinary material; wherein the shoveling difficulty of the ordinary material is lower than that of the difficult-to-shovel material, and the shoveling vehicle corresponds to different arm posture change modes in the drag reduction shoveling strategy and the conventional shoveling strategy respectively.

6. The shovel loading method according to claim 5, characterized in that: The controlling the shoveling vehicle to shovel materials according to a drag reduction shoveling strategy that matches the difficult-to-shovel materials includes: Control the shovel loader to slightly raise its arm and retract the bucket at a target angle, update the value of the first material volume at a current moment, and determine whether the updated first material volume is greater than or equal to the target material volume; If the updated first material volume is greater than or equal to the target material volume, controlling the shoveling vehicle to level the bucket and end shoveling; If the updated volume of the first material is smaller than the target material volume, the shovel loading vehicle is controlled to repeat the action of retracting the bucket according to the target angle and the step of judging based on the first material volume updated at the current moment, until the updated volume of the first material is greater than or equal to the target material volume or the number of times the bucket is retracted is greater than or equal to a preset number of times.

7. The shovel loading method according to claim 5, characterized in that: The controlling the shoveling vehicle to shovel materials according to a conventional shoveling strategy matching ordinary materials includes: The shoveling vehicle is controlled to first rotate and retract the bucket to a first specified angle, and then lift the machine arm to a second specified angle to end shoveling.

8. The shovel loading method according to claim 1, characterized in that: The shovel loading method also includes: When it is detected that the sum of the volume of the first material and the volume of the second material is less than the target material volume, judging whether the shovel loading vehicle has a jamming abnormality according to the stacking state of the materials and the vehicle information of the shovel loading vehicle; If it is determined that the shoveling vehicle has a jamming abnormality, the shoveling vehicle is controlled to shovel materials according to a drag reduction shoveling strategy that matches the difficult-to-shovel materials until the bucket of the shoveling vehicle leaves the surface of the materials.

9. The shovel loading method according to claim 8, characterized in that: The shovel loading method also includes: If it is determined that the shovel loading vehicle does not have a stuck abnormality, updating the values ​​of the first material volume and the second material volume at the current moment; When it is detected that the sum of the updated first material volume and the updated second material volume is greater than or equal to the target material volume, the shoveling vehicle is controlled to shovel the material according to the material type to which the material belongs, according to the target shoveling strategy matching the material type, until the bucket of the shoveling vehicle leaves the material surface.

10. A material shoveling device, characterized in that: The shovel loading device comprises: A prediction module, configured to determine a first material volume in a current bucket of the shovel loader in response to the shovel loader contacting the material, and predict a second material volume that the shovel loader can load at the current moment according to a preset shoveling strategy; The detection module is used to control the shoveling vehicle to shovel materials according to the target shoveling strategy matching the material type when it is detected that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, according to the material type to which the materials belong, until the bucket of the shoveling vehicle leaves the material surface.

11. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the material shoveling method as described in any one of claims 1 to 9 are performed.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the material shoveling method as described in any one of claims 1 to 9.

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