Material loading method, device, equipment and storage medium

Abstract

The application provides a material loading method, device, equipment and storage medium. The material loading method comprises the following steps: in response to the contact between the loading vehicle and the material, determining the first material volume in the current bucket of the loading vehicle, and predicting the second material volume that can be loaded by the loading vehicle at the current time according to a preset loading strategy; when the sum of the first material volume and the second material volume is greater than or equal to a target material volume, controlling the loading vehicle to load the material according to a target loading strategy matched with the material type until the bucket of the loading vehicle leaves the surface of the material. In this way, the application can meet the full bucket rate and operation efficiency of unmanned loading, flexibly allocate the target loading strategy suitable for the current loading material for different types of materials, and accurately control the material volume of single loading to tend to the target material volume set in advance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned control, in particular to a material loading method and device, equipment and a storage medium. BACKGROUND

[0002] When controlling the unmanned loader to load material, the unmanned loader is usually triggered to perform a material loading action based on the change of the arm cylinder pressure or the vehicle speed. However, on the one hand, due to different driving speeds of the unmanned loader rushing to the material pile or different types of material impacting the material pile, the configured pressure trigger threshold is different, so that the pre-configured material loading strategy cannot adapt to the requirements of different types of material and different loading vehicles, and abnormal situations such as material loading action jamming are prone to occur. On the other hand, according to the above existing control mode, only the highest possible full bucket rate of each material loading is concerned, and the volume of material loaded by single material loading cannot be accurately controlled, which is not conducive to the execution of high-precision loading tasks such as concrete mixing and other tasks that require accurate control of the loading proportion of different materials. SUMMARY

[0003] Therefore, the present application provides a material loading method, device, equipment and storage medium, which can flexibly adjust the target material loading strategy suitable for the current loading material for different types of material while meeting the full bucket rate and work efficiency of unmanned material loading, and can accurately control the volume of material loaded by single material loading to tend to the pre-set target material volume, thereby meeting the task requirements of high-precision loading tasks that require accurate control of the loading proportion of different materials.

[0004] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows.

[0005] In a first aspect, the embodiments of the present application provide a material loading method, which comprises:

[0006] In response to the loading vehicle contacting the material, determining a first material volume in the current bucket of the loading vehicle, and predicting a second material volume that can be loaded by the loading vehicle at the current time according to a pre-set material loading 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 a target material volume, controlling the loading vehicle to load material according to a target material loading strategy matched with the material type to which the material belongs until the bucket of the loading vehicle leaves the surface of the material.

[0008] In a second aspect, the embodiments of the present application provide a material loading device, which comprises:

[0009] The prediction module is configured to determine a first material volume in the current bucket of the loading vehicle in response to the loading vehicle contacting the material, and predict a second material volume that can be loaded by the loading vehicle at the current time according to a preset loading strategy.

[0010] The detection module is configured to control the loading vehicle to load the material according to a target loading strategy matched with the material type until the bucket of the loading vehicle leaves the material surface, 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.

[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, and the processor implements the steps of the loading method of the material when executing the computer program.

[0012] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program implements the steps of the loading method of the material when executed by a processor.

[0013] The technical scheme provided by the embodiments of the present application can include the following beneficial effects:

[0014] The loading method, device, equipment and storage medium provided by the embodiments of the present application can determine the first material volume in the current bucket of the loading vehicle in response to the loading vehicle contacting the material, and predict the second material volume that can be loaded by the loading vehicle at the current time according to the preset loading 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 loading vehicle is controlled to load the material according to the target loading strategy matched with the material type until the bucket of the loading vehicle leaves the material surface. In this way, the present application can meet the full bucket rate and operation efficiency of unmanned loading, and can flexibly allocate the target loading strategy suitable for the current loading material according to different types of materials, and can accurately control the material volume of single loading to tend to the target material volume set in advance, so as to meet the task demand of high-precision loading task that needs to accurately control the loading proportion of different materials. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0016] Figure 1 A flowchart of a material loading method is shown according to an embodiment of the present application;

[0017] Figure 2 A material loading flowchart of a loading vehicle is shown according to an embodiment of the present application;

[0018] Figure 3a A schematic diagram of a change mode of a machine arm posture of a loading vehicle corresponding to a conventional loading strategy is shown according to an embodiment of the present application;

[0019] Figure 3b A schematic diagram of a change mode of a machine arm posture of a loading vehicle corresponding to a drag-reducing loading strategy is shown according to an embodiment of the present application;

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

[0021] Figure 5 A schematic diagram of a machine arm structure modeling of a loading vehicle is shown according to an embodiment of the present application;

[0022] Figure 6a A side view of a loading vehicle is shown according to an embodiment of the present application;

[0023] Figure 6b A top view of a loading vehicle is shown according to an embodiment of the present application;

[0024] Figure 7 A schematic diagram of a material loading device is shown according to an embodiment of the present application;

[0025] Figure 8 A schematic diagram of an electronic device 800 is shown according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in detail with reference to the accompanying drawings. It should be understood that the accompanying drawings in the present application only serve the purpose of illustrating and describing the present application, 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 according to the actual proportions. The flowchart shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can not be implemented in sequence, and the steps without logical context relationship can be reversed in sequence or implemented simultaneously. In addition, one or more other operations can be added to the flowchart or one or more operations can be removed from the flowchart under the guidance of the content of the present application.

[0027] In addition, the described embodiments are only some embodiments of the present application, rather than all embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents 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 creative labor fall within 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 presence of the features declared thereafter, but does not exclude the addition of other features.

[0029] In the control of the unmanned loader, the unmanned loader usually performs the material loading action based on the change of the arm cylinder pressure or the vehicle speed. However, on the one hand, due to the different driving speeds of the unmanned loader rushing to the material pile or the different types of materials impacting the material pile, the configured pressure trigger threshold is different, so that the pre-configured material loading strategy cannot adapt to the requirements of different material types and different loading vehicles, and abnormal situations such as material loading action sticking are prone to occur. On the other hand, according to the above existing control mode, only the full bucket rate as high as possible is concerned each time the material is loaded, and the volume of the material loaded by single material loading cannot be accurately controlled, which is not conducive to the execution of high-precision loading tasks such as concrete mixing and other high-precision loading tasks that require accurate control of the loading proportion of different materials.

[0030] Based on this, the embodiments of the present application provide a material loading method, device, equipment and storage medium, which can meet the full bucket rate and work efficiency of unmanned material loading, and can flexibly adjust the target material loading strategy suitable for the current material loading for different types of materials, and can accurately control the volume of the material loaded by single material loading to tend to the pre-set target material volume, which can meet the task requirements of high-precision loading tasks that require accurate control of the loading proportion of different materials.

[0031] In one of the embodiments of the present application, a material loading method can be run in the vehicle control unit of the loading vehicle, so as to realize the unmanned control of the loading vehicle through the above vehicle control unit, and control the loading vehicle to realize the unmanned material loading operation.

[0032] In order to facilitate the understanding of the embodiments of the present application, the following describes in detail a material loading method, device, equipment and storage medium provided by the embodiments of the present application.

[0033] Referring to Figure 1 , a material loading method provided by an embodiment of the present application can be used for unmanned control of a loading vehicle, and can control the loading vehicle to realize the unmanned material loading operation. Figure 1A flowchart of a material loading method is shown, wherein the loading method comprises steps S101-S102; specifically,

[0034] S101, in response to the loading vehicle contacting the material, determining a first material volume in the current bucket of the loading vehicle, and predicting a second material volume that can be loaded by the loading vehicle at the current time according to a preset loading strategy.

[0035] S102, when detecting that the sum of the first material volume and the second material volume is greater than or equal to a target material volume, controlling the loading vehicle to load the material according to a target loading strategy matched with the material type until the bucket of the loading vehicle leaves the material surface.

[0036] The above-mentioned material loading method provided by the embodiments of the present application, in response to the loading vehicle contacting the material, determines the first material volume in the current bucket of the loading vehicle, and predicts the second material volume that can be loaded by the loading vehicle at the current time according to the preset loading strategy; when detecting that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, the loading vehicle is controlled to load the material according to the target loading strategy matched with the material type until the bucket of the loading vehicle leaves the material surface. In this way, the present application can flexibly allocate the target loading strategy suitable for the current loading material for different types of materials while meeting the full bucket rate and work efficiency of unmanned loading, and can accurately control the material volume of single loading to tend to the target material volume set in advance, which can meet the task demand of high-precision loading task that needs to accurately control the loading proportion of different materials.

[0037] The steps in the above-mentioned material loading method provided by the embodiments of the present application will be described respectively as follows:

[0038] S101, in response to the loading vehicle contacting the material, determining a first material volume in the current bucket of the loading vehicle, and predicting a second material volume that can be loaded by the loading vehicle at the current time according to a preset loading strategy.

[0039] Here, Figure 2 A loading flowchart of a loading vehicle is shown, as Figure 2As shown, the shoveling process of the shovel vehicle can be divided into: an Attacking stage before contacting the material, a Crowding stage of contacting the material and continuously deepening, and a Scooping stage of starting to move the arm to complete the shoveling; wherein the problem to be solved in step S101 is: after the shovel vehicle enters the Crowding stage (i.e. in response to the shovel vehicle contacting the material), how to select 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 shovel vehicle to enter the Scooping stage from the Crowding stage).

[0040] Specifically, unlike the prior art method of determining when the shovel vehicle switches from the Crowding stage to the Scooping stage by detecting whether the change in the cylinder pressure of the shovel vehicle exceeds the pressure trigger threshold (e.g. if the change in the cylinder pressure exceeds the pressure trigger threshold, the shovel vehicle is controlled to switch from the Crowding stage to the Scooping stage), in step S101 of the present application, the material volume of the material that the shovel vehicle has already shovelled in the Crowding stage (i.e. the first material volume) is first calculated, and the material volume of the material that is expected to be shovelled if the shovel vehicle is controlled to enter the Scooping stage at the current time (i.e. the second material volume) is predicted, so that the sum of the two material volumes (i.e. the first material volume and the second material volume) is used as the predicted result of the material volume that the shovel vehicle can finally shovel in a single shoveling if it enters the Scooping stage at the current time (i.e. the predicted result of the material volume that is finally shovelled after the Scooping stage ends), and then by comparing the predicted result of the material volume with the target material volume that the user specifies for a single shoveling, the shovel vehicle can be controlled to enter the Scooping stage if the predicted result of the material volume meets the target material volume, so that the material volume of a single shoveling can be accurately controlled to tend towards the target material volume pre-set by the user, achieving accurate control of the shovel vehicle.

[0041] Here, different shoveling strategies are used to control the shovel vehicle to shovel according to different arm posture change modes, i.e. different shoveling strategies will affect the specific prediction result of the second material volume that the shovel vehicle can shovel in the Scooping stage, therefore, to improve the accuracy of the prediction result of the second material volume, the second material volume that the shovel vehicle can shovel in the Scooping stage can be predicted under the assumption that the shovel vehicle shovels according to the pre-set shoveling strategy at the current time (equivalent to adding "pre-set shoveling strategy" to the assumption, which will result in a more accurate second material volume than not limiting the specific shoveling strategy adopted).

[0042] Specifically, as an optional embodiment, the preset scooping strategy can be determined according to a material type to which the current scooped material belongs, for example, if the material belongs to an ordinary material (e.g., gravel) that is easy to scoop, the preset scooping strategy can be determined as a conventional scooping strategy suitable for scooping the ordinary material; if the material belongs to a difficult-to-scoop material (e.g., river sand) that is difficult to scoop, the preset scooping strategy can be determined as a reduced-resistance scooping strategy suitable for scooping the difficult-to-scoop material.

[0043] Specifically, considering the timeliness of the prediction and the fact that the conventional scooping strategy is more dependent on the second material volume predicted in the foregoing step than the reduced-resistance scooping strategy in the subsequent scooping stage (in the conventional scooping strategy, the arm of the loading vehicle is directly controlled to be lifted to a specified angle to complete scooping, which is different from the reduced-resistance scooping strategy in which the bucket is controlled to continuously advance forward, so that the final material volume scooped by the bucket in a single scooping according to the conventional scooping strategy is more dependent on the second material volume predicted in the foregoing step after the subsequent scooping stage ends), as another optional embodiment, the conventional scooping strategy can also be directly determined as the preset scooping strategy without distinguishing the specific material type to which the current scooped material belongs.

[0044] It should be noted that in the embodiments of the present application, the loading vehicle represents a working vehicle that performs a scooping operation on the material, and the loading vehicle can be an unmanned loader or other vehicles such as excavators that can perform a scooping operation. The specific vehicle type to which the loading vehicle belongs is not limited in the embodiments of the present application.

[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, the loading vehicle is controlled to perform scooping according to a target scooping strategy matched with the material type to which the material belongs until the bucket of the loading vehicle leaves the material surface.

[0046] It should be noted that in order to meet the task requirement of a high-precision loading task that requires accurate control of the loading ratio of different materials, the target material volume can represent a material volume scooped by the bucket in a single scooping, that is, the target material volume can be set according to the actual control requirement of the user, and if the user pays more attention to the full-bucket rate of the bucket, the target material volume can be set as the full-bucket volume of the bucket. The specific value of the target material volume is not limited in the embodiments of the present application.

[0047] Here, when the sum of the first material volume and the second material volume is greater than or equal to the target material volume, the loading vehicle can be controlled to switch from the Crowding phase to the Scooping phase; when the loading vehicle enters the Scooping phase, the loading vehicle can be flexibly controlled to scoop material according to a target scooping strategy matched with the material type of the material in the Scooping phase until the bucket of the loading vehicle leaves the material surface, i.e., the Scooping phase is determined to end, and a single scooping process of the bucket is completed.

[0048] Specifically, when the material belongs to the normal type of material, the target scooping strategy matched with the normal type of material can be determined to be the conventional scooping strategy, and the loading vehicle can be controlled to scoop material according to the conventional scooping strategy matched with the normal type of material in the Scooping phase.

[0049] Here, as an optional embodiment, the loading vehicle can be controlled to scoop material according to the conventional scooping strategy matched with the normal type of material by the method shown in step a1, specifically:

[0050] Step a1, control the loading vehicle to first rotate the retracted bucket to a first specified angle, and then lift the boom to a second specified angle to end the scooping.

[0051] It should be noted that the first specified angle is different from the second specified angle, i.e., when the loading vehicle is controlled to scoop material according to the conventional scooping strategy, the angle of rotating the retracted bucket (i.e., the first specified angle) is different from the angle of lifting the boom, and the specific angle values of the first specified angle and the second specified angle can be set according to actual conventional scooping requirements, which are not limited by the embodiments of the present application.

[0052] For example, Figure 3a FIG. 1 shows a schematic diagram of a boom posture change mode of a loading vehicle according to a conventional scooping strategy provided by an embodiment of the present application, as shown in Figure 3a , Figure 3a The solid line in the figure represents the trace of the tip of the bucket, Figure 3a The dashed line in the figure represents the material surface, and as shown by the solid line trend in the figure, Figure 3a When the loading vehicle scoops material according to the conventional scooping strategy, the boom posture change mode of the loading vehicle is: first rotate the retracted bucket to a first specified angle, and then lift the boom to a second specified angle (not shown in the figure of the boom lifting angle) to complete the scooping.

[0053] Specifically, when the material belongs to the difficult-to-scoop material, the target scooping strategy matched with the difficult-to-scoop material is determined as the resistance-reducing scooping strategy, and the loading vehicle is controlled to scoop the material according to the resistance-reducing scooping strategy matched with the difficult-to-scoop material in the scooping phase.

[0054] Here, as an optional embodiment, the loading vehicle can be controlled to scoop the material according to the resistance-reducing scooping strategy matched with the difficult-to-scoop material in the following steps b1-b3, specifically:

[0055] Step b1, control the loading vehicle to slightly lift the boom and retract the bucket to the target angle, update the value of the first material volume at the current time, and determine whether the updated first material volume is greater than or equal to the target material volume.

[0056] Here, when the loading vehicle is controlled to slightly lift the boom, the loading vehicle can be controlled to lift the boom at a smaller preset angle, and the specific value of the preset angle can be set according to the actual resistance-reducing scooping requirement, which is not limited in the embodiments of the present application.

[0057] Here, when the loading vehicle is controlled to retract the bucket, the specific value of the target angle at which the bucket is retracted can be set according to the actual resistance-reducing scooping requirement, which is not limited in the embodiments of the present application.

[0058] Specifically, the above step S101 can be repeatedly executed, the value of the first material volume at the current time is updated to obtain the updated first material volume as the actual scooped material volume in the current bucket, and whether the actual scooped material volume in the bucket during the resistance-reducing scooping has met the target material volume preset by the user (equivalent to determining whether the scooping can be ended) is determined by judging whether the updated first material volume is greater than or equal to the target material volume.

[0059] Step b2, if the updated first material volume is greater than or equal to the target material volume, the loading vehicle is controlled to retract the bucket to end the scooping.

[0060] Here, during the resistance-reducing scooping, after the bucket is retracted, the loading vehicle can be controlled to stop for a while (mainly to wait for the change of the material surface) to update the value of the first material volume during the stopping time to obtain the updated first material volume as the actual scooped material volume in the current bucket.

[0061] Specifically, if it is detected that the actual volume of the material in the bucket (i.e., the updated first volume of the material) is greater than or equal to the target volume of the material, it is determined that the volume of the material in the bucket has met the target volume of the material set by the user in advance, and thus the loading vehicle can be controlled to end the drag-reducing loading at this time (i.e., the loading vehicle is controlled to fold the bucket to end the loading).

[0062] Step b3, if the updated first volume of the material is less than the target volume of the material, the loading vehicle is controlled to repeat the step of folding the bucket at the target angle and determining the updated first volume of the material at the current time until the updated first volume of the material is greater than or equal to the target volume of the material or the number of times of folding the bucket is greater than or equal to the preset number of times.

[0063] Here, referring to the related description of step b2, if it is detected that the actual volume of the material in the bucket (i.e., the updated first volume of the material) is less than the target volume of the material during the dwell time after folding the bucket, the loading vehicle can be controlled to repeat the action of folding the bucket in step b1 (i.e., the action of folding the bucket at the target angle), and to repeat the step of updating the first volume of the material during the dwell time after folding the bucket and determining the updated first volume of the material at the current time until the volume of the material in the bucket meets the target volume of the material set by the user in advance (i.e., the updated first volume of the material is greater than or equal to the target volume of the material), and thus the loading vehicle can be controlled to end the drag-reducing loading at this time (i.e., the loading vehicle is controlled to fold the bucket to end the loading).

[0064] Specifically, considering that the difficulty of loading the difficult-to-load material is high during the actual drag-reducing loading, the actual volume of the material in the bucket (the updated first volume of the material) may still fail to meet the target volume of the material set by the user in advance (i.e., always less than the target volume of the material) after repeatedly folding the bucket multiple times. To improve the loading efficiency, when step b3 is performed, in addition to determining whether the updated first volume of the material is greater than or equal to the target volume of the material, it can also be determined whether the number of times of folding the bucket is greater than or equal to the preset number of times, so that even if the material is difficult to load, the number of times of folding the bucket will not exceed the preset number of times, and the abnormality that the action of repeatedly folding the bucket cannot continue to work is avoided.

[0065] It should be noted that the corresponding target angle of the bucket each time is also determined according to 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 resistance-reducing material shoveling requirement, and the embodiments of the present application do not make any limitation thereto.

[0066] Exemplary description, Figure 3b A schematic diagram of a change mode of a machine arm posture of a loading vehicle according to a resistance-reducing material shoveling strategy is shown, Figure 3b The solid line represents the tip trace of the bucket, Figure 3b The dashed line represents the material surface, wherein, as shown by the solid line trend in Figure 3b The change mode of the machine arm posture of the loading vehicle according to the resistance-reducing material shoveling strategy is: first slightly lifting the machine arm, then stowing the bucket according to the target angle, slightly staying in the stay time to update the value of the first material volume, judging whether the updated first material volume is greater than or equal to the target material volume, or judging whether the stowing number of times of the bucket is greater than or equal to the preset number of times, if the updated first material volume is less than the target material volume or the stowing number of times of the bucket is less than the preset number of times, repeating the above steps (only without lifting the machine arm) until the updated first material volume is greater than or equal to the target material volume or the stowing number of times of the bucket is greater than or equal to the preset number of times.

[0067] It should be noted that in the embodiments of the present application, the shoveling difficulty of the ordinary material is less than that of the difficult-to-shovel material, wherein the ordinary material can be gravel, etc., and the difficult-to-shovel material can be river sand, etc.; the specific materials represented by the above ordinary material and the above difficult-to-shovel material are not limited by the embodiments of the present application.

[0068] It should be noted that in the embodiments of the present application, whether the loading vehicle is controlled to shovel according to the resistance-reducing material shoveling strategy or according to the conventional material shoveling strategy, an accelerator control instruction can be remotely sent to the loading vehicle during the shoveling process to control the loading vehicle to perform the accelerator action according to the accelerator control instruction, thereby driving the loading vehicle to move forward; or no control instruction can be sent, and only the traction generated by the change of the machine arm posture and the change of the stowing angle of the bucket during the shoveling process is relied on to drive the loading vehicle to move forward in a small range (even the loading vehicle can not move); the specific forward distance of the loading vehicle during the shoveling process and whether the loading vehicle needs to be controlled to move forward are not limited by the embodiments of the present application.

[0069] It should be noted that reference is made to Figure 3a and Figure 3bAs shown, the shovel vehicle corresponds to different arm posture change modes in the drag-reducing shoveling strategy and the conventional shoveling strategy, and the present application does not make any limitation on the height of each time the arm is slightly lifted and the specific residence time of each time the arm slightly stops in the drag-reducing shoveling strategy; and the present application also does not make any limitation on the specific specified angle to which the arm is lifted in the conventional shoveling strategy.

[0070] The specific implementation process of each step in the embodiments of the present application will be described in detail as follows:

[0071] For the specific implementation of step S101, when step S101 is performed, the first material volume in the bucket of the shovel vehicle can be determined according to the method shown in steps c1-c2, specifically as follows:

[0072] In step c1, the three-dimensional laser radar installed on the shovel vehicle is used to collect laser positioning data of each point on the material surface, and a material surface elevation map corresponding to the material surface is established according to the collected laser positioning data.

[0073] Here, to reduce the visual obstruction, the three-dimensional laser radar can be installed on the top of the cabin of the shovel vehicle to perceive the material surface information of the material surface and globally locate the positions of the shovel vehicle and the material.

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

[0075] Exemplary description, Figure 4A schematic diagram of a material surface elevation map provided by an embodiment of the present application is shown as follows, Figure 4 As shown, the material surface elevation map is composed of uniformly discretized squares, each of which corresponds to respective position information and ground height information (position information and ground height information under 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] In step c2, the first material volume in the current bucket of the loading vehicle is determined according to the area of the region through which the tooth tips in the bucket pass in the material surface elevation map and the insertion depth of the bucket in the material.

[0077] Here, in addition to the above-mentioned coordinate system L corresponding to the material surface elevation map and the vehicle coordinate system R (the coordinate system corresponding to the turning axis of the body of the loading vehicle), the root of the arm of the loading vehicle can also be taken as the origin to establish the arm root coordinate system M. By calculating the coordinates of the left and right edge points (i.e. the tooth tips of the left and right edges) of the bucket under the arm root coordinate system M in real time, the height d O of the tooth tips on the bucket relative to the ground can be obtained after converting the coordinates to the world coordinate system W (i.e. the z-axis coordinate value corresponding to the above-mentioned coordinates under the world coordinate system W), and the height d g of the tooth tips on the bucket relative to the ground in the material surface elevation map can be obtained after converting the coordinates to the coordinate system L corresponding to the material surface elevation map (i.e. the z-axis coordinate value corresponding to the above-mentioned coordinates under the coordinate system L). If d O is less than or equal to d g , it is considered that the tooth tips of the bucket have been inserted below the material surface, and the insertion depth is d = d g -d O , the jth grid position identifier of the ith tooth tip of the bucket in the region through which it passes in the material surface elevation map and the insertion depth d of the ith tooth tip in the material during the material loading process are recorded.

[0078]

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

[0080] The value range of j is 0 to n, and n represents the total number of grids through which the tooth tips in the bucket pass 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 loading vehicle provided by an embodiment of the present application is shown as follows, with reference to Figure 5The coordinates of each angle and point marked in the figure can be calculated in the following way: The coordinates of the left and right edge points of the bucket (i.e., the tips of the teeth on the left and right edges) in the coordinate system M at the root of the boom are as follows:

[0083] like Figure 5 As shown, tilt sensors T1 and T2 are installed on the boom and bucket of the loader respectively. The two tilt sensors can be rigidly connected to the corresponding components. The tilt angles (i.e., angles T1MD and T2AH2) of the corresponding tilt sensor components relative to the ground plane can be measured in real time.

[0084] Based on this, the conversion equations for the tilt sensor measurement angles α1 (i.e., angle T1MD) and 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 Equation 2-4 below:

[0085] θ1 = α1 - k (Formula 2);

[0086] θ2 = α2 - α1 + m (Formula 3)

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

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

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

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

[0091] =α2-α1+180°+angleT1MA-angleT2AB Formula 4;

[0092] Where k represents angle T1MA;

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

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

[0095] Based on formulas 2-4 above, the x-axis and z-axis coordinates of the bucket tooth tip center point B in the boom root coordinate system M can be calculated using formulas 5-6 as follows:

[0096]

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

[0098] Here, after obtaining the coordinates of the points of the left and right edges of the bucket in the M coordinate system, if the coordinates of the points of the left and right edges of the bucket in the W coordinate system are to be obtained based on the spatial coordinate conversion method, the coordinate conversion relationship between the coordinate system L corresponding to the material surface elevation map, the vehicle coordinate system R, and the M coordinate system needs to be determined.

[0099] Specifically, Figure 6a A side view of the loading vehicle provided by the embodiment of the application is shown, Figure 6b A top view of the loading vehicle provided by the embodiment of the application is shown, wherein, Figure 6a and Figure 6b The relevant parameters in the coordinate system L corresponding to the material surface elevation map, the vehicle coordinate system R, and the M coordinate system of the loading vehicle shown are shown, and specifically:

[0100] Referring to Figure 6a and Figure 6b shown, the body steering shaft is a component connecting the steering wheel and the steering gear in the loading vehicle, and mainly functions to transmit the steering torque applied on the steering wheel to the steering gear to control the steering of the 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 of the body steering shaft from the arm root is taken as the x-axis direction, and the direction perpendicular to the horizontal distance mx of the body steering shaft from the arm root is taken as the y-axis direction, to establish the body steering shaft coordinate system denoted as R (i.e., the above vehicle coordinate system);

[0101] Referring to Figure 6a and Figure 6b shown, the arm root refers to the connection between the arm and the vehicle body of the loading vehicle (i.e., the root position of the arm away from the bucket), and the arm root is taken as the origin, the direction parallel to the body steering shaft is taken as the z-axis direction, the direction parallel to the horizontal distance mx of the body steering shaft from the arm root is taken as the x-axis direction, and the direction perpendicular to the horizontal distance mx of the body steering shaft from the arm root is taken as the y-axis direction, to establish the arm root coordinate system denoted as M (i.e., the above vehicle coordinate system);

[0102] Referring to Figure 6a and Figure 6b shown, the coordinates of the points of the left and right edges of the bucket in the W coordinate system can be calculated in the following manner:

[0103] As Figure 6a and Figure 6bThe shown, arm joint length lm, bucket joint length lk; the body turning shaft distance from the horizontal distance mx of the arm root, the body turning shaft distance from the vertical distance mz of the arm root, the arm root coordinate system is denoted as M, the body turning shaft 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 loading vehicle for real-time calculation of the loading vehicle positioning information The coordinate system corresponding to the laser positioning data collected by it 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 turning angle is denoted as ω (measured by the angle sensor hardware installed on the turning shaft in real time).

[0104] In Figure 6a And Figure 6b On the basis of the above three coordinate systems, the 4x4 space coordinate conversion matrix composed of displacement vector (x, y, z) and three-axis Euler angle (roll, pitch, yaw) is defined as T (x, y, z, roll, pitch, yaw) ;

[0105] Among them,

[0106]

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

[0108]

[0109] Based on the above real-time coordinate conversion matrix, the coordinates of the left and right edges of the bucket in the M coordinate system Can be converted to the world coordinate system W to obtain the coordinates of the left and right edges of the bucket in the W coordinate

[0110] System is Among them, the coordinates of each point uniformly dispersed on the edge of the bucket in the world coordinate system W can also be calculated as Among them, y i The offset of a series of uniformly distributed discrete digging points selected at the bucket tooth tip from the middle of the bucket (theoretically, the interval between points should be smaller than the resolution ε of the above material surface elevation map).

[0111] For the specific implementation of the above step S101, when performing step S101, the second material volume that can be loaded by the loading vehicle at the current time according to the preset material loading strategy can be predicted according to the method shown in steps d1-d2, specifically:

[0112] Step d1, inputting external factor information related to the material environment of the bucket into a pre-trained target model, and predicting a target driving distance of the loading vehicle in the current time according to a preset material loading strategy through the target model.

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

[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 of the material may also affect the resistance of the bucket when loading the material, so the material surface height, material surface shape, and material surface dryness of the material can also be used as external factor information related to the material environment of the bucket. The specific information content of the above-mentioned external factor information is not limited by the embodiments of the present application.

[0115] Specifically, the target model mainly simulates the material environment of the bucket through the input of the above-mentioned external factor information, so as to predict the target driving distance of the loading vehicle in the current time according to the preset material loading strategy in the simulated above-mentioned material environment.

[0116] It should be noted that in the model training stage, historical external factor information related to the material environment can be input into the target model, and the target driving distance of the loading vehicle in the current time according to the preset material loading strategy is predicted through the target model. The target model is trained according to the loss between the prediction result of the target driving distance and the actual measured real driving distance of the loading vehicle until the target model converges.

[0117] Step d2, determining the second material volume according to the material that can be loaded in the target driving distance in the current time according to the arm posture change mode in the preset material loading strategy.

[0118] Here, in addition to the above-mentioned target driving distance, the arm posture change mode of the loading vehicle in the preset material loading strategy belongs to known information (for reference Figure 3a - Figure 3b As shown), and the material condition in front of the loading vehicle can be determined according to the above-mentioned material surface elevation diagram (also belongs to known information), so after obtaining the target driving distance predicted by the target model, the area of the region through which the tooth tip of the bucket passes in the material surface elevation diagram can be determined according to the target driving distance and the material surface elevation diagram, and the insertion depth of the bucket in the material can be determined according to the arm posture change mode of the loading vehicle in the preset material loading strategy, so that the second material volume can be predicted according to the formula 1 shown in the above-mentioned step c2.

[0119] On the basis of the above steps S101-S102, after the above step S101 is executed, 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 shovel vehicle can enter the Scooping phase 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 less than the target material volume, it is determined whether the shovel vehicle has a jam anomaly according to the material stacking state and the vehicle information of the shovel vehicle.

[0121] Here, the specific abnormal condition that can indicate that the shovel vehicle has a jam anomaly can be quantified in advance according to the material stacking state and the vehicle information of the shovel vehicle; as an optional embodiment, the above abnormal condition can be that the currently determined first material volume is greater than 0 (that is, the shovel vehicle has contacted the material) and the vehicle speed of the shovel vehicle is close to 0 (which means that the shovel vehicle may be stalled or jammed due to the difficulty of shoveling the material).

[0122] It should be noted that the above abnormal condition is only used to represent a specific example of a material that is relatively difficult to shovel and may have a jam anomaly (which causes the subsequent link to fail to proceed); for example, when the material surface humidity exceeds a certain threshold, the shovel vehicle may also have a jam anomaly; the specific condition of the above abnormal condition is not limited by the embodiments of the present application.

[0123] Step e2, if it is determined that the shovel vehicle has a jam anomaly, the shovel vehicle is controlled to shovel material according to a drag-reducing shoveling strategy matched with the difficult-to-shovel material until the bucket of the shovel vehicle leaves the material surface.

[0124] Here, if it is determined that the shovel vehicle has a jam anomaly (for example, the currently determined first material volume is greater than 0 and the vehicle speed of the shovel vehicle is close to 0), the shovel vehicle can be directly controlled to enter the Scooping phase and shovel material in the Scooping phase according to the drag-reducing shoveling method, which mainly serves as a bottom protection means to avoid the overall shoveling process from being stalled and improve the work efficiency of the shovel vehicle.

[0125] Step e3, if it is determined that the shovel vehicle does not have a jam anomaly, the values of the first material volume and the second material volume are updated at the current time;

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

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

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

[0129] Based on the material loading method provided in the embodiments of this application, in response to the loading vehicle contacting the material, the first material volume in the current bucket of the loading vehicle is determined, and the second material volume that the loading vehicle can load at the current moment according to the preset loading 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, the loading vehicle is controlled to load material according to the target loading strategy matching the material type until the bucket of the loading vehicle leaves the material surface. In this way, while meeting the full bucket rate and operation efficiency of unmanned loading, this application can also flexibly adjust the target loading strategy suitable for the current loading material for different types of materials, and can accurately control the material volume of a single loading to tend to the preset target material volume, which can meet the task requirements of high-precision loading tasks that require precise control of the loading ratio of different materials.

[0130] Based on the same inventive concept, this application also provides a shovel loading device corresponding to the shovel loading method of the above-mentioned materials. Since the principle of the shovel loading device in the embodiments of this application is similar to that of the shovel loading method of the above-mentioned materials in the embodiments of this application, the implementation of the shovel loading device can refer to the implementation of the above-mentioned shovel loading method, and the repeated parts will not be described again.

[0131] Reference Figure 7 As shown, Figure 7 A schematic diagram of a material loading device according to an embodiment of this application is shown, wherein the loading device includes:

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

[0133] detecting that the sum of the first material volume and the second material volume is greater than or equal to the target material volume, the detection module 702 is configured to control the loading vehicle to load material according to a target loading strategy matched with the material type to which the material belongs until the bucket of the loading vehicle leaves the material surface.

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

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

[0136] determine the first material volume in the current bucket of the loading vehicle according to the area of the region through which the tooth tip of 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 the second material volume that can be loaded by the loading vehicle at the current time according to the preset loading strategy is predicted, the prediction module 701 is configured to:

[0138] input external factor information related to the loading environment of the bucket into a pre-trained target model, and predict a target driving distance that the loading vehicle is expected to advance at the current time according to the preset loading strategy by the target model;

[0139] determine the second material volume according to the material that can be loaded by the loading vehicle at the current time according to the change mode of the arm posture in the preset loading strategy.

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

[0141] In an optional implementation, when the loading vehicle is controlled to load material according to the target loading strategy matched with the material type to which the material belongs, the detection module 702 is configured to:

[0142] when the material belongs to a difficult-to-load material, control the loading vehicle to load material according to a reduced-resistance loading strategy matched with the difficult-to-load material;

[0143] or,

[0144] When the material belongs to the common type of material, the control module 701 is configured to control the loading vehicle to load the material according to a conventional loading strategy matched with the common type of material; wherein the loading difficulty of the common type of material is less than that of the difficult-to-load type of material, and the loading vehicle corresponds to different arm posture change modes in the reduced resistance loading strategy and the conventional loading strategy respectively.

[0145] In an optional embodiment, when the control module 701 controls the loading vehicle to load the material according to the reduced resistance loading strategy matched with the difficult-to-load type of material, the detection module 702 is configured to:

[0146] The control module 701 is configured to control the loading vehicle to slightly lift the arm and stow the bucket according to a target angle, update the value of the first material volume at the current time, 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, the control module 701 is configured to control the loading vehicle to end the loading by stowing the bucket to be flat.

[0148] If the updated first material volume is less than the target material volume, the control module 701 is configured to control the loading vehicle to repeat the steps of stowing the bucket according to the target angle and determining according to the updated first material volume at the current time until the updated first material volume is greater than or equal to the target material volume or the stowing number of the bucket is greater than or equal to a preset number.

[0149] In an optional embodiment, when the control module 701 controls the loading vehicle to load the material according to the conventional loading strategy matched with the common type of material, the detection module 702 is configured to:

[0150] The control module 701 is configured to control the loading vehicle to first rotate to stow the bucket to a first specified angle, and then lift the arm to a second specified angle to end the loading.

[0151] In an optional embodiment, the loading device further comprises a determination module, wherein the determination module is configured to:

[0152] When it is detected that the sum of the first material volume and the second material volume is less than the target material volume, the determination module is configured to determine whether the loading vehicle has a jam abnormality according to the stacking state of the material and the vehicle information of the loading vehicle.

[0153] If it is determined that the loading vehicle has a jam abnormality, the control module 701 is configured to control the loading vehicle to load the material according to the reduced resistance loading strategy matched with the difficult-to-load type of material until the bucket of the loading vehicle leaves the material surface.

[0154] In an optional embodiment, the determination module is further configured to:

[0155] If it is determined that the shovel vehicle does not have a jam abnormality, the values of the first material volume and the second material volume at the current time are updated;

[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, according to the material type to which the material belongs, the shovel vehicle is controlled to shovel material according to a target shoveling strategy matched with the material type until the bucket of the shovel vehicle leaves the material surface.

[0157] Based on the above-mentioned material shoveling device provided by the embodiments of the present application, in response to the shovel vehicle contacting the material, the first material volume in the current bucket of the shovel vehicle is determined, and the second material volume that can be loaded by the shovel vehicle at the current time according to a 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 shovel vehicle is controlled to shovel material according to a target shoveling strategy matched with the material type until the bucket of the shovel vehicle leaves the material surface. In this way, the present application can flexibly allocate the target shoveling strategy suitable for the current shoveling material for different types of materials while meeting the full bucket rate and work efficiency of unmanned shoveling, and can accurately control the material volume of single shoveling to tend to the pre-set target material volume, which can meet the task demand of high-precision shoveling tasks that need to accurately control the shoveling proportion 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 problems in the electronic device in the embodiments of the present application is similar to that of the above-mentioned material shoveling method in the embodiments of the present application, the implementation of the electronic device can be referred to the implementation of the above-mentioned shoveling method, and the repeated parts will not be described here.

[0159] Figure 8 A structural schematic diagram of an electronic device 800 provided by the embodiments of the present application, comprising a processor 801, a memory 802 and a bus 803, the memory 802 stores machine readable instructions executable by the processor 801, when the electronic device runs a material shoveling method as in the embodiments, the processor 801 and the memory 802 communicate through the bus 803, and the processor 801 executes the machine readable instructions, wherein the processor 801 executes the machine readable instructions to implement the following steps, specifically:

[0160] In response to the shovel vehicle contacting the material, the first material volume in the current bucket of the shovel vehicle is determined, and the second material volume that can be loaded by the shovel vehicle at the current time according to a preset shoveling strategy is predicted;

[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, according to the material type to which the material belongs, the shovel loading vehicle is controlled to shovel material according to a target shoveling strategy matched with the material type until the bucket of the shovel loading vehicle leaves the material surface.

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

[0163] Collect laser positioning data of each point on the material surface through a three-dimensional laser radar installed on the shovel loading vehicle, and establish a material surface elevation map corresponding to the material surface according to the collected laser positioning data.

[0164] Determine the first material volume in the current bucket of the shovel loading vehicle according to the area of the region through which the tooth tip of the bucket passes in the material surface elevation map and the insertion depth of the bucket in the material.

[0165] In an optional embodiment, when the second material volume that can be loaded by the shovel loading vehicle at the current time according to the preset shoveling strategy is predicted, the processor 801 is configured to:

[0166] Input external factor information related to the shoveling environment of the bucket into a pre-trained target model, and predict a target travel distance that the shovel loading vehicle is expected to travel at the current time according to the preset shoveling strategy through the target model;

[0167] Determine the second material volume according to the material that can be shoveled by the shovel loading vehicle according to the change mode of the arm posture in the preset shoveling strategy when the shovel loading vehicle travels the target travel distance at the current time.

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

[0169] In an optional embodiment, when the shovel loading vehicle is controlled to shovel material according to the target shoveling strategy matched with the material type according to the material type to which the material belongs, the processor 801 is configured to:

[0170] When the material belongs to a difficult-to-shovel material, the shovel loading vehicle is controlled to shovel material according to a reduced-resistance shoveling strategy matched with the difficult-to-shovel material.

[0171] Or,

[0172] When the material belongs to the common type of material, the processor 801 is configured to control the loading vehicle to load the material according to a normal loading strategy matched with the common type of material; wherein the loading difficulty of the common type of material is less than that of the difficult-to-load type of material, and the loading vehicle corresponds to different arm posture change modes in the resistance-reducing loading strategy and the normal loading strategy respectively.

[0173] In an optional embodiment, when the processor 801 controls the loading vehicle to load the material according to the resistance-reducing loading strategy matched with the difficult-to-load type of material, the processor 801 is configured to:

[0174] control the loading vehicle to slightly lift the arm and stow the bucket according to a target angle, update the value of the first material volume at the current time, 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, control the loading vehicle to end the loading by stowing the bucket flat;

[0176] if the updated first material volume is less than the target material volume, control the loading vehicle to repeat the action of stowing the bucket according to the target angle and the step of determining according to the updated first material volume at the current time until the updated first material volume is greater than or equal to the target material volume or the stowing number of the bucket is greater than or equal to a preset number.

[0177] In an optional embodiment, when the processor 801 controls the loading vehicle to load the material according to the normal loading strategy matched with the common type of material, the processor 801 is configured to:

[0178] control the loading vehicle to first rotate the stowed bucket to a first specified angle and then lift the arm to a second specified angle to end the loading.

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

[0180] when it is detected that the sum of the first material volume and the second material volume is less than the target material volume, determine whether the loading vehicle has a jam abnormality according to the stacking state of the material and vehicle information of the loading vehicle;

[0181] if it is determined that the loading vehicle has a jam abnormality, control the loading vehicle to load the material according to the resistance-reducing loading strategy matched with the difficult-to-load type of material until the bucket of the loading vehicle is away from the material surface.

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

[0183] if it is determined that the shovel vehicle does not have a jam abnormality, updating the values of the first material volume and the second material volume at the current time;

[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, according to the material type to which the material belongs, the shovel vehicle is controlled to shovel material according to a target shoveling strategy matched with the material type until the bucket of the shovel vehicle leaves the material surface.

[0185] The electronic device provided by the embodiment of the present application responds to the shovel vehicle contacting the material, determines the first material volume in the current bucket of the shovel vehicle, and predicts the second material volume that can be loaded by the shovel vehicle at the current time 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, according to the material type to which the material belongs, the shovel vehicle is controlled to shovel material according to a target shoveling strategy matched with the material type until the bucket of the shovel vehicle leaves the material surface. In this way, the present application can flexibly allocate a target shoveling strategy suitable for the current shoveling material according to different types of materials while meeting the full bucket rate and work efficiency of unmanned shoveling, and can accurately control the material volume of single shoveling to tend to the target material volume set in advance, which can meet the task demand of high-precision shoveling tasks that need to accurately control the shoveling proportion of different materials.

[0186] Based on the same inventive concept, the embodiment of the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor when the computer program is run. The processor executes the following steps:

[0187] In response to the shovel vehicle contacting the material, the first material volume in the current bucket of the shovel vehicle is determined, and the second material volume that can be loaded by the shovel vehicle at the current time according to a preset shoveling strategy is predicted;

[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, according to the material type to which the material belongs, the shovel vehicle is controlled to shovel material according to a target shoveling strategy matched with the material type until the bucket of the shovel vehicle leaves the material surface.

[0189] In an optional embodiment, in the determination of the first material volume in the current bucket of the shovel vehicle, the processor is configured to:

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

[0191] According to the area of the region through which the tooth tip of the bucket passes in the region of the material surface elevation map and the insertion depth of the bucket in the material, the first material volume in the bucket of the loading vehicle at the current moment is determined.

[0192] In an optional implementation, when the second material volume that the loading vehicle can load according to the preset material loading strategy at the current moment is predicted, the processor is configured to:

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

[0194] According to the material that the loading vehicle can load according to the change mode of the arm posture in the preset material loading strategy when advancing the target driving distance in the material at the current moment, the second material volume is determined.

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

[0196] In an optional implementation, when the loading vehicle is controlled to load material according to the target material loading strategy matched with the material type according to the material type to which the material belongs, the processor is configured to:

[0197] when the material belongs to a difficult-to-load material, the loading vehicle is controlled to load material according to a reduced-resistance material loading strategy matched with the difficult-to-load material;

[0198] or,

[0199] when the material belongs to a normal material, the loading vehicle is controlled to load material according to a normal material loading strategy matched with the normal material; wherein the loading difficulty of the normal material is less than that of the difficult-to-load material, and the loading vehicle corresponds to different arm posture change modes in the reduced-resistance material loading strategy and the normal material loading strategy, respectively.

[0200] In an optional implementation, when the loading vehicle is controlled to load material according to the reduced-resistance material loading strategy matched with the difficult-to-load material, the processor is configured to:

[0201] control the shovel vehicle to slightly lift the machine arm and stow the bucket according to a target angle, update the value of the first material volume at the current time, 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, control the shovel vehicle to end the shoveling by stowing the bucket flat.

[0203] If the updated first material volume is less than the target material volume, control the shovel vehicle to repeat the steps of stowing the bucket according to the target angle and determining according to the updated first material volume at the current time until the updated first material volume is greater than or equal to the target material volume or the number of times of stowing the bucket is greater than or equal to a preset number of times.

[0204] In an optional embodiment, when the processor controls the shovel vehicle to shovel according to a general shoveling strategy matching the normal material, the processor is configured to:

[0205] control the shovel vehicle to first rotate to stow the bucket to a first specified angle and then lift the machine arm to a second specified angle to end the shoveling.

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

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

[0208] If it is determined that the shovel vehicle has a jamming abnormality, control the shovel vehicle to shovel according to a reduced-resistance shoveling strategy matching the difficult-to-shovel material until the bucket of the shovel vehicle leaves the surface of the material.

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

[0210] If it is determined that the shovel vehicle does not have a jamming abnormality, update the values of the first material volume and the second material volume at the current time;

[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, control the shovel vehicle to shovel according to a target shoveling strategy matching the material type to which the material belongs until the bucket of the shovel vehicle leaves the surface of the material.

[0212] The computer readable storage medium provided in the embodiment of the present application can determine the first material volume in the current bucket of the loading vehicle in response to the loading vehicle contacting the material, and predict the second material volume that can be loaded by the loading vehicle according to the preset material loading strategy at the current time; when the sum of the first material volume and the second material volume is greater than or equal to the target material volume, the loading vehicle is controlled to load the material according to the target material loading strategy matched with the material type until the bucket of the loading vehicle leaves the material surface according to the material type. In this way, the present application can flexibly allocate the target material loading strategy suitable for the current loading material for different types of materials while meeting the full bucket rate and operation efficiency of unmanned material loading, and can accurately control the material volume of single material loading to tend to the pre-set target material volume, thereby meeting the task demand of high-precision loading task that needs to accurately control the loading proportion of different materials.

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

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

[0215] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e. they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

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

[0217] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and various program code storage media.

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

[0219] Finally, it should be noted that the above-described embodiments are only specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, but not to limit them. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily think of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed by the present application, or make equivalent replacements to some of the technical features. The modifications, changes or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application. They should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of spading material, characterized by, The loading method comprises: in response to the loading vehicle contacting the material, determining a first material volume of the material that has been scooped into the bucket of the loading vehicle in a current stage of the loading vehicle contacting the material and continuously digging in, and predicting a second material volume that can be loaded by the loading vehicle in the current time according to a preset loading strategy; when it is detected that the sum of the first material volume and the second material volume is greater than or equal to a target material volume, controlling the loading vehicle to load the material according to a target loading strategy matched with a material type of the material until the bucket of the loading vehicle leaves the material surface.

2. The method of claim 1, wherein, The determination of the first material volume of the material that has been scooped into the bucket of the loading vehicle in the current stage comprises: collecting laser positioning data of each point on the material surface by a three-dimensional laser radar installed on the loading vehicle, and establishing a material surface elevation map corresponding to the material surface according to the collected laser positioning data; determining the first material volume of the material that has been scooped into the bucket of the loading vehicle in the current stage according to a region area of a region passed through by a tooth tip of the bucket in the material surface elevation map and an insertion depth of the bucket in the material.

3. The method of claim 1, wherein, The prediction of the second material volume that can be loaded by the loading vehicle in the current time according to the preset loading strategy comprises: inputting external factor information related to a loading environment of the bucket into a pre-trained target model, predicting a target driving distance that the loading vehicle is expected to advance in the current time according to the preset loading strategy by the target model, and determining the second material volume that can be scooped in the current time according to a target driving distance that the loading vehicle is expected to advance in the current time according to a change mode of a machine arm posture in the preset loading strategy. The external factor information comprises at least one of the following: a current vehicle speed of the loading vehicle, the first material volume, a material type of the material, and a material surface height corresponding to a discrete point on the material surface.

4. The method of claim 3, wherein, The control of the loading vehicle to load the material according to the target loading strategy matched with the material type comprises:

5. The method of claim 1, wherein, when the material belongs to a difficult-to-load material, controlling the loading vehicle to load the material according to a reduced-resistance loading strategy matched with the difficult-to-load material; or, when the material belongs to an ordinary material, controlling the loading vehicle to load the material according to a conventional loading strategy matched with the ordinary material; wherein the loading difficulty of the ordinary material is less than that of the difficult-to-load material, and the loading vehicle corresponds to different change modes of the machine arm posture in the reduced-resistance loading strategy and the conventional loading strategy, respectively. The control of the loading vehicle to load the material according to the reduced-resistance loading strategy matched with the difficult-to-load material comprises:

6. The method of claim 5, wherein, controlling the loading vehicle to slightly lift the machine arm and retract the bucket according to a target angle, updating a value of the first material volume in the current time, and determining 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, the control of the shovel loading vehicle is to control the shovel loading vehicle to end the material loading by folding the bucket to a flat position; If the updated first material volume is less than the target material volume, the control of the shovel loading vehicle is to control the shovel loading vehicle to repeat the steps of folding the bucket to the target angle and judging the updated first material volume until the updated first material volume is greater than or equal to the target material volume or the number of times of folding the bucket is greater than or equal to a preset number of times.

7. The method of claim 5, wherein, The control of the shovel loading vehicle to load the material according to the conventional material loading strategy matched with the normal material includes: The control of the shovel loading vehicle is to control the shovel loading vehicle to first rotate the folded bucket to a first specified angle and then lift the boom to a second specified angle to end the material loading.

8. The method of loading according to claim 1, wherein, The shovel loading method further includes: When it is detected that the sum of the first material volume and the second material volume is less than the target material volume, the control of the shovel loading vehicle is to judge whether the shovel loading vehicle has a jam abnormality according to the stacking state of the material and the vehicle information of the shovel loading vehicle; If it is determined that the shovel loading vehicle has the jam abnormality, the control of the shovel loading vehicle is to control the shovel loading vehicle to load the material according to a resistance-reducing material loading strategy matched with the difficult-to-load material until the bucket of the shovel loading vehicle leaves the material surface.

9. The method of claim 8, wherein, The shovel loading method further includes: If it is determined that the shovel loading vehicle does not have the jam abnormality, the control of the shovel loading vehicle is to update the values of the first material volume and the second material volume at the current time; 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 control of the shovel loading vehicle is to control the shovel loading vehicle to load the material according to a target material loading strategy matched with the material type to which the material belongs until the bucket of the shovel loading vehicle leaves the material surface.

10. A material loading device, comprising: The shovel loading device includes: a prediction module configured to, in response to the shovel loading vehicle contacting the material, determine a first material volume of the material that has been loaded into the bucket of the shovel loading vehicle in a current stage in which the shovel loading vehicle contacts the material and continuously digs deeper, and predict a second material volume that can be loaded by the shovel loading vehicle at the current time according to a preset material loading strategy; a detection module configured to, when it is detected that the sum of the first material volume and the second material volume is greater than or equal to a target material volume, control the shovel loading vehicle to load the material according to a target material loading strategy matched with a material type to which the material belongs until the bucket of the shovel loading vehicle leaves the material surface.

11. An electronic device, comprising: The shovel loading device includes: a processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, and the machine readable instructions are executed by the processor to perform the steps of the material loading method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to perform the steps of the material loading method according to any one of claims 1 to 9.

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