Unattended automatic control system of bucket wheel machine

Abstract

The invention belongs to the technical field of bucket wheel machine control, and discloses an unattended automatic control system of a bucket wheel machine, which is characterized in that a three-dimensional modeling technology is utilized to respectively construct geometric models of a coal yard, a bucket wheel machine and a material pile, and the geometric models are combined to generate a dynamic coal yard model; positioning information of the bucket wheel machine is obtained through the wireless positioning technology, and an automatic moving path of the bucket wheel machine is generated in combination with the dynamic coal yard model and the material taking work plan and sent to a bucket wheel controller to control the moving state of the bucket wheel machine; the safety stability between the bucket wheel machine and the material pile in the material taking process is evaluated according to the automatic moving path of the bucket wheel machine and the microwave measurement technology, and a limit protection device is driven based on the evaluation result to conduct protection operation on the material pile; and judging the accuracy of the automatic moving path of the bucket wheel machine according to a material taking result, and analyzing the feasibility of bucket wheel machine automatic control based on an accuracy result to determine an automatic control strategy of the bucket wheel machine. According to the invention, the requirements on operators are greatly reduced, and the labor cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of bucket wheel machine control, and in particular to an unmanned automatic control system for a bucket wheel machine. Background Art

[0002] Bucket wheel excavator, also known as bucket wheel stacker and reclaimer, is a large mechanical equipment used for loading and unloading bulk materials. It is usually used in coal mines, ports, docks, mines and other places. It can both stack and reclaim materials and has the ability of continuous transportation. Bucket wheel excavator is mainly composed of bucket wheel, drive device, control system and support structure. The bucket wheel is used to load and unload materials, the drive device provides power, the control system is responsible for operating instructions, and the support structure ensures the stability and safety of the equipment.

[0003] However, in the prior art, bucket wheel excavators are mostly manually operated when performing material retrieving work, so that the operation process needs to rely on manual visual observation and experience for judgment, the response speed is slow, and automatic control cannot be achieved. In addition, operators generally plan the path based on experience, which may lead to repeated operations or omissions, reducing efficiency.

[0004] Therefore, how to provide an unmanned automatic control system for a bucket wheel excavator is a problem that needs to be solved urgently. Summary of the invention

[0005] The embodiment of the present invention provides an unattended automatic control system for a bucket wheel machine to solve the problem that the bucket wheel machine in the prior art cannot realize automatic control.

[0006] In order to have a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended to be a general review, nor is it intended to identify key / important components or to delineate the scope of protection of these embodiments. Its only purpose is to present some concepts in a simple form as a preface to the detailed description that follows.

[0007] According to a first aspect of an embodiment of the present invention, an unmanned automatic control system for a bucket wheel excavator is provided.

[0008] In one embodiment, an unmanned automatic control system for a bucket wheel machine comprises:

[0009] A dynamic coal yard model building unit is used to use 3D modeling technology to build geometric models of the coal yard, bucket wheel machine and stockpile respectively, and combine the geometric models to generate a dynamic coal yard model;

[0010] The automatic moving path generation unit is used to obtain the positioning information of the bucket wheel machine by using the wireless positioning technology, and generate the automatic moving path of the bucket wheel machine by combining the dynamic coal yard model and the material taking work plan, and send it to the bucket wheel controller to control the moving state of the bucket wheel machine;

[0011] The material reclaiming safety and stability assessment unit is used to assess the safety and stability between the bucket wheel machine and the pile during the reclaiming process based on the bucket wheel machine's automatic moving path and microwave measurement technology, and to drive the limit protection device based on the assessment results to perform protective operations on the pile;

[0012] The bucket wheel machine automatic control evaluation unit is used to judge the accuracy of the bucket wheel machine's automatic moving path according to the material taking results, analyze the feasibility of the bucket wheel machine's automatic control based on the accuracy results, and determine the bucket wheel machine's automatic control strategy using the feasibility.

[0013] In one embodiment, the automatic moving path generation unit comprises:

[0014] The bucket wheel machine position information acquisition module is used to deploy a positioning base station inside the coal yard, use the positioning sensor at the bottom of the bucket wheel machine to obtain the real-time position of the bucket wheel machine, and send it to the positioning base station;

[0015] The module for determining the initial path point set is used to apply the real-time position of the bucket wheel machine to the dynamic coal yard model, and to build a grid map in combination with the material reclaiming work plan to determine the initial path point set in the bucket wheel machine reclaiming process;

[0016] The bucket wheel machine moving path generation module is used to perform a straight line fitting operation after filtering the path points in the initial path point set, and generate an automatic moving path for the bucket wheel machine based on the straight line fitting result;

[0017] The bucket wheel machine movement state control module is used to convert the bucket wheel machine's automatic movement path into the bucket wheel machine's driving direction control command, and send the control command to the bucket wheel controller, and use the bucket wheel controller to control the movement state of the bucket wheel machine.

[0018] In one embodiment, the bucket wheel machine moving path generation module performs a straight line fitting operation after filtering the path points in the initial path point set. When generating the automatic moving path of the bucket wheel machine based on the straight line fitting result, the path points in the initial path point set can be filtered, the intermediate path points in the path points in the same direction can be filtered out, and the direction turning points are retained to obtain a filtered path point set, wherein the path point set includes a material picking starting point, a material picking direction turning point and a material picking end point; a straight line fitting operation is performed starting from the material picking starting point, and after the fitting is completed, the straight line fitting operations corresponding to the material picking direction turning point and the material picking end point are performed in sequence; during the fitting process, the width of the path composed of the current fitting path point and its non-adjacent path points and the width of the bucket wheel machine body are determined. If the path width is less than the difference in the body width, the straight line fitting operation is completed; if the path width is greater than the difference in the body width, the path points between the fitting path point and its non-adjacent path points are deleted to obtain the final path point set as the automatic moving path of the bucket wheel machine during the material picking process.

[0019] In one embodiment, when determining the difference between the width of the path composed of the current fitting path point and its non-adjacent path points and the body width of the bucket wheel machine during the fitting process, the coordinates of the current fitting path point and its non-adjacent path points can be converted from grid map coordinates to geodetic coordinates, and the converted geodetic coordinates can be used to analyze the angle of the line connecting the current fitting path point and its non-adjacent path points in the geodetic coordinate system relative to the horizontal coordinate axis; the geodetic coordinate axis is rotated based on the angle result to obtain a new geodetic coordinate system, and the line connecting the current fitting path point and its non-adjacent path points in the new geodetic coordinate system is expanded into a geometric area according to the body width of the bucket wheel machine; the difference between the width of the path composed of the current fitting path point and its non-adjacent path points and the body width of the bucket wheel machine is analyzed according to the geometric area, and based on the difference result, it is determined whether the position of the geometric area on the grid map can be passed by the bucket wheel machine.

[0020] In one embodiment, the bucket wheel machine movement state control module converts the bucket wheel machine's automatic movement path into a bucket wheel machine driving direction control instruction, and sends the control instruction to the bucket wheel controller. When the bucket wheel controller is used to control the movement state of the bucket wheel machine, the bucket wheel machine's automatic movement path can be discretized into position points, time tags are assigned to the position points, and a trajectory smoothing algorithm is applied to connect the position points to generate a continuous trajectory; the continuous trajectory is decomposed to generate trajectory decomposition segments, and the lateral deviation and heading angle deviation of the bucket wheel machine are calculated based on the real-time position and posture of the bucket wheel machine; the steering angle of the bucket wheel machine is calculated using the trajectory decomposition segments and the lateral control algorithm, and a movement instruction for executing the automatic movement path of the bucket wheel machine is generated based on the lateral deviation, heading angle deviation and steering angle, and the generated movement instruction is sent to the bucket wheel controller, and the bucket wheel controller is used to control the movement state of the bucket wheel machine.

[0021] In one embodiment, the movement instruction includes the moving direction, turning radius and speed limit of the bucket wheel machine.

[0022] In one embodiment, the calculation formula of the steering angle of the bucket wheel machine is:

[0023]

[0024] Where σ represents the steering angle of the bucket wheel machine, L represents the wheelbase of the bucket wheel machine, and e y represents the lateral error, e θ represents the heading angle deviation, and v represents the bucket wheel machine's travel speed.

[0025] In one embodiment, the material taking safety and stability assessment unit includes:

[0026] A stockpile collection and processing module is used to collect the posture data of the bucket wheel machine and the profile data of the stockpile, as well as the relative distance between the bucket wheel machine and the stockpile, using microwave sensors installed at the bottom of the bucket wheel machine and the stockpile;

[0027] The safety and stability evaluation module is used to analyze the minimum distance and angle deviation between the bucket wheel machine and the stockpile according to the bucket wheel machine's automatic moving path, and evaluate the safety and stability between the bucket wheel machine and the stockpile;

[0028] The result decision protection module is used to compare the difference between the safety stability and the safety threshold, activate the physical protection device according to the difference result, and perform protection operations on the stockpile.

[0029] In one embodiment, the safety and stability evaluation module analyzes the minimum distance and angle deviation between the bucket wheel and the material pile according to the automatic moving path of the bucket wheel, and when evaluating the safety and stability between the bucket wheel and the material pile, the boundary points of the material pile can be obtained based on the contour data of the material pile, and the Euclidean distance between the real-time position of the bucket wheel and the boundary points of the material pile can be calculated based on the boundary points, and the minimum value of the Euclidean distance can be selected as the minimum distance; the inverse tangent function can be used to obtain the connection direction angle between the boundary point of the material pile and the bucket wheel, and the angle deviation can be calculated based on the connection direction angle and the heading angle, the minimum angle deviation can be determined based on the minimum distance, and the minimum angle deviation and the minimum angle deviation can be used to evaluate the safety and stability between the bucket wheel and the material pile.

[0030] In one embodiment, the calculation formula of the angle deviation is:

[0031]

[0032] In the formula, Δζ represents the angle deviation, θ represents the heading angle, and ρ pile With δ pile Respectively represent the horizontal and vertical boundary points of the pile, ρ machine With δ machine They respectively represent the lateral and longitudinal positions of the bucket wheel excavator.

[0033] According to a second aspect of an embodiment of the present invention, there is provided an unattended automatic control method for a bucket wheel excavator.

[0034] In one embodiment, the unattended automatic control method of a bucket wheel machine includes:

[0035] The three-dimensional modeling technology is used to construct the geometric models of the coal yard, bucket wheel machine and stockpile respectively, and the geometric models are combined to generate a dynamic coal yard model;

[0036] Use wireless positioning technology to obtain the positioning information of the bucket wheel machine, and combine the dynamic coal yard model with the material taking work plan to generate the automatic moving path of the bucket wheel machine, and send it to the bucket wheel controller to control the moving state of the bucket wheel machine;

[0037] The safety and stability between the bucket wheel machine and the pile during the material handling process is evaluated based on the bucket wheel machine's automatic moving path and microwave measurement technology, and the limit protection device is driven based on the evaluation results to perform protective operations on the pile;

[0038] The accuracy of the bucket wheel machine's automatic moving path is judged according to the material taking results, the feasibility of the bucket wheel machine's automatic control is analyzed based on the accuracy results, and the feasibility is used to determine the bucket wheel machine's automatic control strategy.

[0039] According to a third aspect of an embodiment of the present invention, a computer device is provided.

[0040] In one embodiment, the computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0041] According to a fourth aspect of embodiments of the present invention, a computer-readable storage medium is provided.

[0042] In one embodiment, the computer-readable storage medium stores a computer program, and the computer program implements the steps of the above method when executed by a processor.

[0043] The technical solution provided by the embodiment of the present invention may have the following beneficial effects:

[0044] The present invention can reflect the geometric relationship between the coal yard, bucket wheel machine and material pile in real time by constructing a dynamic coal yard model, providing an accurate data basis for path planning and stability assessment, and at the same time combining the material taking work plan and positioning technology to optimize the operation path of the bucket wheel machine, reduce invalid strokes and repeated operation time, and improve the material taking efficiency of the bucket wheel machine. The present invention also uses microwave measurement technology to monitor the distance and angle deviation between the bucket wheel machine and the material pile in real time, dynamically assess the safety during the operation, and automatically drive the limit protection device when a high-risk state is detected to promptly avoid safety accidents such as overturning of the bucket wheel machine and collapse of the material pile, thereby greatly reducing the demand for operators and reducing labor costs.

[0045] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0047] Figure 1 is a principle block diagram of an unmanned automatic control system for a bucket wheel machine according to an exemplary embodiment;

[0048] Figure 2 is a flow chart of an unattended automatic control method for a bucket wheel machine according to an exemplary embodiment;

[0049] Figure 3The figure is a schematic diagram showing the structure of a computer device according to an exemplary embodiment. DETAILED DESCRIPTION

[0050] The following description and accompanying drawings fully illustrate the specific embodiments of this article so that those skilled in the art can practice them. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of the embodiments of this article includes the entire scope of the claims, as well as all available equivalents of the claims. Herein, the terms "first", "second", etc. are only used to distinguish one element from another, without requiring or implying any actual relationship or order between these elements. In fact, the first element can also be called the second element, and vice versa. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the structure, device or equipment including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such structure, device or equipment. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the structure, device or equipment including the elements. Each embodiment is described in a progressive manner herein, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other.

[0051] The terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. in this document indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing this document and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of this document, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, it can also be the internal communication of two elements, it can be a direct connection, or it can be an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0052] As used herein, unless otherwise specified, the term "plurality" means two or more than two.

[0053] In this document, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B means: A or B.

[0054] In this article, the term "and / or" is a description of the association relationship between objects, indicating that three relationships may exist. For example, A and / or B means: A or B, or, A and B.

[0055] It should be understood that, although the various steps in the flow chart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0056] Each module in the device or system of the present application can be implemented in whole or in part by software, hardware, or a combination thereof. The above modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to the above modules.

[0057] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0058] Figure 1 An embodiment of the unattended automatic control system for a bucket wheel machine of the present invention is shown.

[0059] In this optional embodiment, the bucket wheel machine unattended automatic control system includes:

[0060] The dynamic coal yard model building unit 101 is used to respectively build the geometric models of the coal yard, bucket wheel machine and stockpile by using the three-dimensional modeling technology, and combine the geometric models to generate the dynamic coal yard model;

[0061] The automatic moving path generating unit 103 is used to obtain the positioning information of the bucket wheel machine by using the wireless positioning technology, and generate the automatic moving path of the bucket wheel machine by combining the dynamic coal yard model and the material taking work plan, and send it to the bucket wheel controller to control the moving state of the bucket wheel machine;

[0062] The material reclaiming safety and stability evaluation unit 105 is used to evaluate the safety and stability between the bucket wheel machine and the material pile during the material reclaiming process according to the bucket wheel machine's automatic moving path and microwave measurement technology, and drive the limit protection device based on the evaluation result to perform protection operations on the material pile;

[0063] The bucket wheel machine automatic control evaluation unit 107 is used to determine the accuracy of the bucket wheel machine automatic moving path according to the material taking result, analyze the feasibility of the bucket wheel machine automatic control based on the accuracy result, and determine the bucket wheel machine automatic control strategy based on the feasibility.

[0064] In this optional embodiment, when the three-dimensional modeling technology is used to respectively construct the geometric models of the coal yard, bucket wheel machine and stockpile, and the geometric models are combined to generate a dynamic coal yard model, the topography, boundary and height data of the coal yard can be collected by using laser radar (LiDAR), total station or drone mapping technology to generate point cloud data or terrain grid data of the coal yard; the key structural parameters of the bucket wheel machine (such as arm length, height, rotation angle range) are obtained according to the design drawings or actual dimensions of the bucket wheel machine, and the activity range and posture data of the bucket wheel machine are collected in combination with the dynamic motion characteristics of the bucket wheel machine; the morphological data of the stockpile (height) is obtained in real time through microwave measurement technology, three-dimensional laser scanning or other sensors. The method uses the following methods to generate a dynamic point cloud or surface model of the stockpile (such as angle, slope, and boundary); perform noise reduction on the collected point cloud data of the coal yard and stockpile to remove redundant noise points and outliers, and use CAD software (such as AutoCAD and SolidWorks) or 3D modeling tools (such as Blender and Maya) to build a geometric model of the bucket wheel machine based on the design parameters; place the geometric models of the coal yard, bucket wheel machine, and stockpile in a unified coordinate system to ensure that the position and proportional relationship of each model are accurate; use the coal yard geometric model as the underlying reference, superimpose the dynamic surface model of the stockpile and the real-time geometric position of the bucket wheel machine, and build a complete dynamic coal yard model.

[0065] In this optional embodiment, the automatic moving path generation unit 103 includes:

[0066] The bucket wheel machine position information acquisition module is used to deploy a positioning base station inside the coal yard, use the positioning sensor at the bottom of the bucket wheel machine to obtain the real-time position of the bucket wheel machine, and send it to the positioning base station;

[0067] The module for determining the initial path point set is used to apply the real-time position of the bucket wheel machine to the dynamic coal yard model, and to build a grid map in combination with the material reclaiming work plan to determine the initial path point set in the bucket wheel machine reclaiming process;

[0068] The bucket wheel machine moving path generation module is used to perform a straight line fitting operation after filtering the path points in the initial path point set, and generate an automatic moving path for the bucket wheel machine based on the straight line fitting result;

[0069] The bucket wheel machine movement state control module is used to convert the bucket wheel machine's automatic movement path into the bucket wheel machine's driving direction control command, and send the control command to the bucket wheel controller, and use the bucket wheel controller to control the movement state of the bucket wheel machine.

[0070] In this optional embodiment, the bucket wheel machine moving path generation module performs a straight line fitting operation after filtering the path points in the initial path point set. When generating the automatic moving path of the bucket wheel machine based on the straight line fitting result, the path points in the initial path point set can be filtered, the intermediate path points in the path points in the same direction can be filtered out, and the direction turning points are retained to obtain a filtered path point set, wherein the path point set includes a material picking starting point, a material picking direction turning point and a material picking end point; a straight line fitting operation is performed starting from the material picking starting point, and after the fitting is completed, the straight line fitting operations corresponding to the material picking direction turning point and the material picking end point are performed in sequence; during the fitting process, the width of the path composed of the current fitting path point and its non-adjacent path points and the width of the bucket wheel machine body are determined. If the path width is less than the difference in the body width, the straight line fitting operation is completed; if the path width is greater than the difference in the body width, the path points between the fitting path point and its non-adjacent path points are deleted to obtain the final path point set as the automatic moving path of the bucket wheel machine during the material picking process.

[0071] In this optional embodiment, when determining the difference between the width of the path composed of the current fitting path point and its non-adjacent path points and the body width of the bucket wheel machine during the fitting process, the coordinates of the current fitting path point and its non-adjacent path points can be converted from the grid map coordinates to the geodetic coordinates, and the converted geodetic coordinates can be used to analyze the angle of the line connecting the current fitting path point and its non-adjacent path points in the geodetic coordinate system relative to the horizontal coordinate axis; the geodetic coordinate axis is rotated based on the angle result to obtain a new geodetic coordinate system, and the line connecting the current fitting path point and its non-adjacent path points in the new geodetic coordinate system is expanded into a geometric area according to the body width of the bucket wheel machine; the difference between the width of the path composed of the current fitting path point and its non-adjacent path points and the body width of the bucket wheel machine is analyzed according to the geometric area, and based on the difference result, it is determined whether the position of the geometric area on the grid map can be passed by the bucket wheel machine.

[0072] In this optional embodiment, the bucket wheel machine movement state control module converts the bucket wheel machine's automatic movement path into a bucket wheel machine driving direction control instruction, and sends the control instruction to the bucket wheel controller. When the bucket wheel controller is used to control the movement state of the bucket wheel machine, the bucket wheel machine's automatic movement path can be discretized into position points, time tags are assigned to the position points, and a trajectory smoothing algorithm is applied to connect the position points to generate a continuous trajectory; the continuous trajectory is decomposed to generate trajectory decomposition segments, and the lateral deviation and heading angle deviation of the bucket wheel machine are calculated based on the real-time position and posture of the bucket wheel machine; the steering angle of the bucket wheel machine is calculated using the trajectory decomposition segments and the lateral control algorithm, and a movement instruction for executing the bucket wheel machine's automatic movement path (including the bucket wheel machine's movement direction, turning radius and speed limit) is generated based on the lateral deviation, heading angle deviation and steering angle, and the generated movement instruction is sent to the bucket wheel controller, and the bucket wheel controller is used to control the movement state of the bucket wheel machine.

[0073] In this optional embodiment, the calculation formula of the steering angle of the bucket wheel machine is:

[0074]

[0075] Where σ represents the steering angle of the bucket wheel machine, L represents the wheelbase of the bucket wheel machine, and e y represents the lateral error, e θ represents the heading angle deviation, and v represents the bucket wheel machine's travel speed.

[0076] In this optional embodiment, the material taking safety and stability evaluation unit 105 includes:

[0077] A stockpile collection and processing module is used to collect the posture data of the bucket wheel machine and the profile data of the stockpile, as well as the relative distance between the bucket wheel machine and the stockpile, using microwave sensors installed at the bottom of the bucket wheel machine and the stockpile;

[0078] The safety and stability evaluation module is used to analyze the minimum distance and angle deviation between the bucket wheel machine and the stockpile according to the bucket wheel machine's automatic moving path, and evaluate the safety and stability between the bucket wheel machine and the stockpile;

[0079] The result decision protection module is used to compare the difference between the safety stability and the safety threshold, activate the physical protection device according to the difference result, and perform protection operations on the stockpile.

[0080] In this optional embodiment, the safety and stability evaluation module analyzes the minimum distance and angle deviation between the bucket wheel and the material pile according to the automatic moving path of the bucket wheel, and when evaluating the safety and stability between the bucket wheel and the material pile, the boundary points of the material pile can be obtained based on the contour data of the material pile, and the Euclidean distance between the real-time position of the bucket wheel and the boundary points of the material pile can be calculated based on the boundary points, and the minimum value of the Euclidean distance can be selected as the minimum distance; the inverse tangent function can be used to obtain the connection direction angle between the boundary point of the material pile and the bucket wheel, and the angle deviation can be calculated based on the connection direction angle and the heading angle, the minimum angle deviation can be determined based on the minimum distance, and the minimum angle deviation and the minimum angle deviation can be used to evaluate the safety and stability between the bucket wheel and the material pile.

[0081] In this optional embodiment, the calculation formula of the angle deviation is:

[0082]

[0083] In the formula, Δζ represents the angle deviation, θ represents the heading angle, and ρ pile With δ pile Respectively represent the horizontal and vertical boundary points of the pile, ρ machine With δ machine They respectively represent the lateral and longitudinal positions of the bucket wheel excavator.

[0084] In this optional embodiment, when the accuracy of the bucket wheel machine's automatic moving path is judged according to the material taking results, the feasibility of the bucket wheel machine's automatic control is analyzed based on the accuracy results, and the bucket wheel machine's automatic control strategy is determined using the feasibility, the bucket wheel machine's material taking path can be recorded in real time, including its location information (such as GPS / UWB coordinates), moving speed, rotation angle and arm inclination angle, and the dynamic changes of the pile of materials, including the shape, density and distribution of remaining materials, and the total amount of materials for each material taking operation, the uniformity of material taking (such as the residual height of the pile surface) and whether abnormal conditions such as landslides occur, the actual moving path of the bucket wheel machine is obtained, compared with the planned path, and the path deviation and operation abnormalities (such as incomplete taking, over-digging, etc.) are recorded. take); compare the actual moving path of the bucket wheel machine with the planned path, calculate the path deviation index, calculate the average and maximum value of the deviation, evaluate the accuracy of the path execution, compare the morphological changes of the stockpile before and after taking materials, evaluate whether it meets the planned material taking amount and uniformity goals, and at the same time count the number and severity of landslides, material pile collapses, equipment collisions and other problems that occur during the operation, set the accuracy evaluation standard of automatic control, such as the path deviation does not exceed a certain threshold, the material taking uniformity meets a certain indicator, if the path deviation and the material taking result deviation are both within an acceptable range, it is determined that the accuracy of the automatic control path planning is high, if the deviation exceeds the threshold, analyze the cause of the error (such as sensor failure, algorithm problem or environmental change).

[0085] Figure 2 An embodiment of an unattended automatic control method for a bucket wheel machine of the present invention is shown.

[0086] In this optional embodiment, the unattended automatic control method of the bucket wheel machine includes:

[0087] Step S201, using 3D modeling technology to construct geometric models of the coal yard, bucket wheel machine and stockpile respectively, and combining the geometric models to generate a dynamic coal yard model;

[0088] Step S203, using wireless positioning technology to obtain the positioning information of the bucket wheel machine, and combining the dynamic coal yard model with the material taking work plan to generate an automatic moving path for the bucket wheel machine, and sending it to the bucket wheel controller to control the moving state of the bucket wheel machine;

[0089] Step S205, evaluating the safety stability between the bucket wheel machine and the stockpile during the material taking process according to the bucket wheel machine's automatic moving path and microwave measurement technology, and driving the limit protection device based on the evaluation result to perform protection operations on the stockpile;

[0090] Step S207, judging the accuracy of the bucket wheel machine's automatic moving path according to the material taking result, analyzing the feasibility of the bucket wheel machine's automatic control based on the accuracy result, and determining the bucket wheel machine's automatic control strategy using the feasibility.

[0091] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store static information and dynamic information data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the steps in the above method embodiment are implemented.

[0092] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0093] In addition, the present invention also provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiment when executing the computer program.

[0094] In addition, the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiment are implemented.

[0095] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0096] The present invention is not limited to the structures which have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. An unmanned automatic control system for a bucket wheel excavator, characterized in that: The automatic control system includes: A dynamic coal yard model building unit is used to use 3D modeling technology to build geometric models of the coal yard, bucket wheel machine and stockpile respectively, and combine the geometric models to generate a dynamic coal yard model; The automatic moving path generation unit is used to obtain the positioning information of the bucket wheel machine by using the wireless positioning technology, and generate the automatic moving path of the bucket wheel machine by combining the dynamic coal yard model and the material taking work plan, and send it to the bucket wheel controller to control the moving state of the bucket wheel machine; The material reclaiming safety and stability assessment unit is used to assess the safety and stability between the bucket wheel machine and the pile during the reclaiming process based on the bucket wheel machine's automatic moving path and microwave measurement technology, and to drive the limit protection device based on the assessment results to perform protective operations on the pile; The bucket wheel machine automatic control evaluation unit is used to judge the accuracy of the bucket wheel machine's automatic moving path according to the material taking results, analyze the feasibility of the bucket wheel machine's automatic control based on the accuracy results, and determine the bucket wheel machine's automatic control strategy using the feasibility.

2. The unmanned automatic control system for a bucket wheel excavator according to claim 1 is characterized in that: The automatic moving path generation unit comprises: The bucket wheel machine position information acquisition module is used to deploy a positioning base station inside the coal yard, use the positioning sensor at the bottom of the bucket wheel machine to obtain the real-time position of the bucket wheel machine, and send it to the positioning base station; The module for determining the initial path point set is used to apply the real-time position of the bucket wheel machine to the dynamic coal yard model, and to build a grid map in combination with the material reclaiming work plan to determine the initial path point set in the bucket wheel machine reclaiming process; The bucket wheel machine moving path generation module is used to perform a straight line fitting operation after filtering the path points in the initial path point set, and generate an automatic moving path for the bucket wheel machine based on the straight line fitting result; The bucket wheel machine movement state control module is used to convert the bucket wheel machine's automatic movement path into the bucket wheel machine's driving direction control instruction, and send the control instruction to the bucket wheel controller, and use the bucket wheel controller to control the movement state of the bucket wheel machine.

3. The unmanned automatic control system for a bucket wheel excavator according to claim 2 is characterized in that: The bucket wheel machine moving path generation module performs a straight line fitting operation after filtering the path points in the initial path point set. When generating the bucket wheel machine automatic moving path based on the straight line fitting result, the path points in the initial path point set can be filtered, and the intermediate path points in the path points in the same direction are filtered out, and the direction turning points are retained to obtain a filtered path point set, wherein the path point set includes a material picking starting point, a material picking direction turning point, and a material picking end point; a straight line fitting operation is performed starting from the material picking starting point, and after the fitting is completed, the straight line fitting operations corresponding to the material picking direction turning point and the material picking end point are performed in sequence; during the fitting process, the width of the path composed of the current fitting path point and its non-adjacent path points and the width of the bucket wheel machine body are determined, and if the path width is less than the difference in the body width, the straight line fitting operation is completed; if the path width is greater than the difference in the body width, the path points between the fitting path point and its non-adjacent path points are deleted to obtain a final path point set as the automatic moving path of the bucket wheel machine during the material picking process.

4. The unmanned automatic control system for a bucket wheel excavator according to claim 3 is characterized in that: When determining the difference between the width of the path formed by the current fitting path point and its non-adjacent path points and the width of the bucket wheel machine during the fitting process, the coordinates of the current fitting path point and its non-adjacent path points can be converted from grid map coordinates to geodetic coordinates, and the angle of the line connecting the current fitting path point and its non-adjacent path points in the geodetic coordinate system relative to the horizontal coordinate axis can be analyzed using the converted geodetic coordinates; The geodetic coordinate axes are rotated based on the angle results to obtain a new geodetic coordinate system. The line connecting the current fitting path point and its non-adjacent path points in the new geodetic coordinate system is expanded into a geometric area according to the body width of the bucket wheel machine. The difference between the width of the path composed of the current fitting path point and its non-adjacent path points and the body width of the bucket wheel machine is analyzed according to the geometric area, and based on the difference result, it is determined whether the position of the geometric area on the grid map can be passed by the bucket wheel machine.

5. The unmanned automatic control system for a bucket wheel excavator according to claim 4 is characterized in that: The bucket wheel machine movement state control module converts the bucket wheel machine automatic movement path into the bucket wheel machine driving direction control instruction, and sends the control instruction to the bucket wheel controller. When the bucket wheel controller is used to control the movement state of the bucket wheel machine, the bucket wheel machine automatic movement path can be discretized into position points, time tags are assigned to the position points, and a trajectory smoothing algorithm is applied to connect the position points to generate a continuous trajectory; the continuous trajectory is decomposed to generate trajectory decomposition segments, and the lateral deviation and heading angle deviation of the bucket wheel machine are calculated based on the real-time position and posture of the bucket wheel machine; the steering angle of the bucket wheel machine is calculated using the trajectory decomposition segment and the lateral control algorithm, and a movement instruction for executing the automatic movement path of the bucket wheel machine is generated based on the lateral deviation, heading angle deviation and steering angle, and the generated movement instruction is sent to the bucket wheel controller, and the bucket wheel controller is used to control the movement state of the bucket wheel machine.

6. The unmanned automatic control system for a bucket wheel excavator according to claim 5, characterized in that: The movement instruction includes the moving direction, turning radius and speed limit of the bucket wheel machine.

7. The unmanned automatic control system for a bucket wheel excavator according to claim 6, characterized in that: The calculation formula of the steering angle of the bucket wheel machine is: Where σ represents the steering angle of the bucket wheel machine, L represents the wheelbase of the bucket wheel machine, and e y represents the lateral error, e θ represents the heading angle deviation, and v represents the bucket wheel machine's travel speed.

8. The unmanned automatic control system for a bucket wheel excavator according to claim 1, characterized in that: The material taking safety and stability assessment unit comprises: A stockpile collection and processing module is used to collect the posture data of the bucket wheel machine and the profile data of the stockpile, as well as the relative distance between the bucket wheel machine and the stockpile, using microwave sensors installed at the bottom of the bucket wheel machine and the stockpile; The safety and stability evaluation module is used to analyze the minimum distance and angle deviation between the bucket wheel machine and the stockpile according to the bucket wheel machine's automatic moving path, and evaluate the safety and stability between the bucket wheel machine and the stockpile; The result decision protection module is used to compare the difference between the safety stability and the safety threshold, activate the physical protection device according to the difference result, and perform protection operations on the stockpile.

9. The unmanned automatic control system for a bucket wheel excavator according to claim 8, characterized in that: The safety and stability evaluation module analyzes the minimum distance and angle deviation between the bucket wheel and the material pile according to the automatic moving path of the bucket wheel, and when evaluating the safety and stability between the bucket wheel and the material pile, the boundary points of the material pile can be obtained based on the contour data of the material pile, the Euclidean distance between the real-time position of the bucket wheel and the boundary points of the material pile is calculated according to the boundary points, and the minimum value of the Euclidean distance is selected as the minimum distance; the connection direction angle between the boundary point of the material pile and the bucket wheel is obtained by using the inverse tangent function, and the angle deviation is calculated according to the connection direction angle and the heading angle, the minimum angle deviation is determined based on the minimum distance, and the safety and stability between the bucket wheel and the material pile is evaluated using the minimum angle deviation and the minimum angle deviation.

10. The unmanned automatic control system for a bucket wheel excavator according to claim 9, characterized in that: The calculation formula of the angle deviation is: In the formula, Δζ represents the angle deviation, θ represents the heading angle, and ρ pile With δ pile Respectively represent the horizontal and vertical boundary points of the pile, ρ machine With δ machine They respectively represent the lateral and longitudinal positions of the bucket wheel excavator.

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