Self-adaptive loading position planning method and device, storage medium and equipment

Abstract

The invention discloses a self-adaptive loading position planning method and device, a storage medium and equipment. The self-adaptive loading position planning method comprises the steps that set initial loading position data and topographic data of a loading area at the current sampling moment are acquired; according to the obtained initial loading position data and the topographic data of the loading area at the current sampling moment, obtaining a plurality of candidate loading positions meeting operation conditions; obtaining an optimal loading position from a plurality of candidate loading positions meeting operation conditions according to the obtained topographic data of the loading area at the current sampling moment and an access path planning requirement; and in response to the difference between the topographic data of the loading area at the next sampling moment and the topographic data of the loading area at the current sampling moment, updating the optimal loading position. The invention can shorten the time spent on setting the loading position of the loading equipment and improve the working efficiency.

Description

Technical Field

[0001] The invention relates to an adaptive loading position planning method, device, storage medium and equipment, belonging to the technical field of automation and intelligentization in mining operations. Background Art

[0002] In the process of open-pit mine operation, the selection of the loading position of the mining truck affects the operation efficiency and safety. The traditional method relies on manually specifying the loading position, which is often limited by the operator's experience and may lead to problems such as low loading efficiency and high safety risks.

[0003] The patent with publication number CN115877771A discloses a method and system for collaborative loading of an excavator and an autonomous mining truck. The loading position is set by projecting infrared markers onto the ground. This method mainly emphasizes the accuracy of the set loading points at the actual work site. In this method, each change in the loading position requires manual specification, which cannot meet the demand for automatic updating of the loading position caused by changes in site conditions during the operation.

[0004] The patent with publication number CN115328171A discloses a method, device, chip, terminal, equipment and medium for generating a loading point position. The position of the loading position after movement is calculated based on the manually specified initial loading position, the initial position of the loading equipment and the position of the loading equipment after movement. The updated loading position in this method depends on the manually specified initial loading position position and heading angle, and cannot be updated according to actual site conditions, which lacks flexibility.

[0005] The patent with publication number CN115328171A discloses a method for recommending parking spaces at parking spots in a mining operation area. The method calculates several optimal loading positions for selection by mining equipment drivers based on the site conditions near the mining equipment. This is not conducive to the autonomous operation of the mining equipment drivers. There is a situation where the recommended optimal loading position is inconsistent with the driver's idea, which affects the driver's operation.

[0006] The patent with publication number CN115775117A discloses an information processing method, device, electronic device and storage medium for mining operations. It relies on the change distance of the mining section to reach a threshold to trigger the update, and cannot achieve real-time update. When updating the loading position, it does not take into account the optimization of path planning indicators in the working area. Summary of the invention

[0007] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an adaptive loading position planning method, device, storage medium and equipment, which can shorten the time spent by the loading equipment to set the loading position and improve the working efficiency. To achieve the above purpose, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides an adaptive loading position planning method, comprising: Obtaining the set initial loading position data and the terrain data of the loading area at the current sampling time; According to the acquired initial loading position data and the terrain data of the loading area at the current sampling time, a plurality of candidate loading positions meeting the operation conditions are obtained; According to the terrain data of the loading area at the current sampling time and the entry and exit path planning requirements, the optimal loading position is obtained from multiple candidate loading positions that meet the operating conditions; In response to a difference between the terrain data of the loading area at a next sampling moment and the terrain data of the loading area at a current sampling moment, the optimal loading position is updated.

[0008] In combination with the first aspect, optionally, the set initial loading position data includes initial longitude and latitude data and initial heading angle data of the loading vehicle at the set initial loading position.

[0009] In combination with the first aspect, optionally, the terrain data of the loading area at the current sampling moment includes: loading area map boundary data, loading area terrain flatness, loading area slope, obstacle position in the loading area, height of obstacles in the loading area and material boundary data at the current sampling moment.

[0010] In combination with the first aspect, optionally, the step of obtaining a plurality of candidate loading positions that meet the operating conditions based on the acquired initial loading position data and the terrain data of the loading area at the current sampling time includes: Determine the range of materials to be loaded based on the loading area map boundary data and the material boundary data at the current sampling time; Determine the loading range of the loading vehicle based on the acquired initial loading position data and the range of the material to be loaded; In the loading range of the loading vehicle, in response to the loading area terrain flatness of any area being less than a preset flatness threshold and the loading area slope being less than a preset slope threshold, the area is determined as a candidate loading area for the loading vehicle; wherein there are multiple candidate loading areas for the loading vehicle; Based on the position of the obstacle in the loading area, the distance between any loading position in the loading candidate area of ​​the loading vehicle and the obstacle is calculated; In response to the distance between any loading position and an obstacle whose height is greater than a preset height threshold being greater than a preset obstacle distance threshold, the loading position is determined as a loading alternative area for loading the vehicle as a candidate loading position that meets the operating conditions; wherein there are multiple candidate loading positions that meet the operating conditions.

[0011] In combination with the first aspect, optionally, obtaining the optimal loading position from a plurality of candidate loading positions that meet the operating conditions according to the acquired terrain data of the loading area at the current sampling time and the entry and exit path planning requirements includes: Get the operating range of the loading vehicle; Based on the loading area map boundary data and the operating range of the loading vehicle, determining whether the operating range of the loading vehicle exceeds the range of the loading area when performing the device task at the candidate loading position, and determining the candidate loading position whose operating range does not exceed the range of the loading area as the first pre-selected loading position; Based on the position of obstacles in the loading area, the height of obstacles in the loading area and the entry and exit path planning requirements, obtaining whether there is an available loading path from the set initial loading position to the first pre-selected loading position, and determining the candidate loading position with the available loading path as the second pre-selected loading position; When the number of the second preselected loading positions is 1, outputting the second preselected loading position as the optimal loading position; When the number of the second preselected loading positions is not 1, the length of the available loading path of each second preselected loading position is calculated, and the second preselected loading position with the shortest available loading path is output as the optimal loading position.

[0012] In combination with the first aspect, optionally, the candidate loading position and the optimal loading position are longitude and latitude data.

[0013] In combination with the first aspect, optionally, in response to a difference between terrain data of the loading area at a next sampling moment and terrain data of the loading area at a current sampling moment, updating the optimal loading position includes: Obtain the loading position data at the current sampling moment and the terrain data of the loading area at the next sampling moment; Re-obtain multiple candidate loading positions that meet the operating conditions based on the obtained loading position data at the current sampling time and the terrain data of the loading area at the next sampling time; According to the terrain data of the loading area at the next sampling time and the entry and exit path planning requirements, the optimal loading position is updated from multiple candidate loading positions that meet the operating conditions.

[0014] In a second aspect, the present invention provides an adaptive loading position planning device, comprising: Acquisition module: used to acquire the set initial loading position data and the terrain data of the loading area at the current sampling time; Candidate loading position determination module: used to obtain multiple candidate loading positions that meet the operating conditions based on the acquired initial loading position data and the terrain data of the loading area at the current sampling time; Optimal loading position determination module: used to obtain the optimal loading position from multiple candidate loading positions that meet the operating conditions based on the terrain data of the loading area at the current sampling time and the entry and exit path planning requirements; Update module: used for updating the optimal loading position in response to the difference between the terrain data of the loading area at the next sampling moment and the terrain data of the loading area at the current sampling moment.

[0015] In a third aspect, the present invention provides a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the steps of the adaptive loading position planning method described in the first aspect.

[0016] In a fourth aspect, the present invention provides a computer device, characterized in that it includes: Memory, for storing computer programs / instructions; A processor is used to execute the computer program / instructions to implement the steps of the adaptive loading position planning method described in the first aspect.

[0017] Compared with the prior art, the adaptive loading position planning method, device, storage medium and device provided by the embodiments of the present invention have the following beneficial effects: The present invention obtains multiple candidate loading positions that meet the operating conditions based on the acquired initial loading position data and the terrain data of the loading area at the current sampling time; obtains the optimal loading position from multiple candidate loading positions that meet the operating conditions based on the acquired terrain data of the loading area at the current sampling time and the entry and exit path planning requirements; the present invention can evaluate the candidate loading positions and select the optimal loading position according to the actual terrain conditions and the entry and exit path planning requirements, has flexibility, and can improve operating efficiency and safety; The present invention updates the optimal loading position in response to the difference between the terrain data of the loading area at the next sampling moment and the terrain data of the loading area at the current sampling moment; the present invention can update the optimal loading position in real time according to the terrain changes during the operation; The present invention adaptively obtains the optimal loading position, which can shorten the time spent by the loading equipment to set the loading position, and can significantly reduce the cost of operators' exploration, especially in narrow working area scenarios, thereby improving working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a flow chart of an adaptive loading position planning method in Example 1 of the present invention. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention. Example 1

[0020] like Figure 1 As shown, this embodiment provides an adaptive loading position planning method, including: Obtaining the set initial loading position data and the terrain data of the loading area at the current sampling time; According to the acquired initial loading position data and the terrain data of the loading area at the current sampling time, a plurality of candidate loading positions meeting the operation conditions are obtained; According to the terrain data of the loading area at the current sampling time and the entry and exit path planning requirements, the optimal loading position is obtained from multiple candidate loading positions that meet the operating conditions; In response to a difference between the terrain data of the loading area at a next sampling moment and the terrain data of the loading area at a current sampling moment, the optimal loading position is updated.

[0021] This embodiment takes open-pit mining operations as an example to illustrate the specific steps.

[0022] Step 1: Get the set initial loading position data.

[0023] The set initial loading position data includes initial longitude and latitude data and initial heading angle data of the loading vehicle at the set initial loading position.

[0024] The initial loading position data is manually set by the loading equipment operator through the interactive interface of the loading vehicle's vehicle-side control system.

[0025] Step 2: Obtain the terrain data of the loading area at the current sampling time.

[0026] The terrain data of the loading area at the current sampling moment includes: loading area map boundary data, loading area terrain flatness, loading area slope, obstacle position in the loading area, obstacle height in the loading area and material boundary data at the current sampling moment.

[0027] The terrain data of the loading area at the current sampling moment is obtained by processing and preliminarily merging the terrain data collected by the data acquisition device installed on the loading vehicle.

[0028] Step 3: Based on the acquired initial loading position data and the terrain data of the loading area at the current sampling time, multiple candidate loading positions that meet the operating conditions are obtained.

[0029] Step 3.1: Determine the range of the material to be loaded based on the loading area map boundary data and the material boundary data at the current sampling moment.

[0030] Step 3.2: Determine the loading range of the loading vehicle based on the acquired initial loading position data and the range of the material to be loaded.

[0031] Specifically, the loading range of the loading vehicle is divided from the range of the materials to be loaded according to the initial longitude and latitude data of the loading vehicle and the initial heading angle data of the loading vehicle at the set initial loading position.

[0032] Step 3.3: In response to any area having a loading area terrain flatness less than a preset flatness threshold and a loading area slope less than a preset slope threshold within the loading range of the loading vehicle, the area is determined as a loading candidate area for the loading vehicle.

[0033] In this embodiment, within the loading range of the loading vehicle, a plurality of areas are divided according to preset longitude and latitude spans.

[0034] Specifically, the terrain flatness of the loading area is expressed by the terrain undulation (the height difference between the highest point and the lowest point), and the slope of the loading area is expressed by the percentage method or the degree method.

[0035] There are multiple candidate loading areas for loading vehicles obtained by this step.

[0036] Step 3.4: Based on the position of the obstacle in the loading area, the distance between any loading position in the loading candidate area of ​​the loading vehicle and the obstacle is calculated.

[0037] Step 3.5: In response to the distance between any loading position and an obstacle whose height is greater than a preset height threshold being greater than a preset obstacle distance threshold, determining the loading position as a candidate loading area for loading the vehicle as a candidate loading position that meets the operating conditions.

[0038] There are multiple candidate loading locations that meet the operation conditions.

[0039] The method also includes calculating the distance between the candidate loading position and the loading vehicle, and calculating the time required for the loading vehicle to travel to the candidate loading position.

[0040] Step 4: Based on the terrain data of the loading area at the current sampling time and the entry and exit path planning requirements, the optimal loading position is obtained from multiple candidate loading positions that meet the operating conditions.

[0041] Specifically, the candidate loading locations are represented by latitude and longitude data.

[0042] Step 4.1: Get the operating range of the loading vehicle.

[0043] The operating scope of a loading vehicle is determined based on the specific vehicle type, nature of the cargo, regulatory requirements and operating environment.

[0044] Step 4.2: Based on the loading area map boundary data and the operating range of the loading vehicle, determine whether the operating range of the loading vehicle exceeds the range of the loading area when performing the installation task at the candidate loading position, and determine the candidate loading position whose operating range does not exceed the range of the loading area as the first pre-selected loading position.

[0045] Step 4.3: Based on the position of obstacles in the loading area, the height of obstacles in the loading area and the entry and exit path planning requirements, obtain whether there is an available loading path from the set initial loading position to the first preselected loading position, and determine the candidate loading position with an available loading path as the second preselected loading position.

[0046] The existing path planning algorithm is used to perform path planning from the set initial loading position to each first preselected loading position. If there is an available loading path, the candidate loading position with the available loading path is the second preselected loading position. If there is no available loading path, the first preselected loading position is deleted.

[0047] Step 4.4: When the number of second preselected loading positions is 1, output the second preselected loading position as the optimal loading position; when the number of second preselected loading positions is not 1, calculate the length of the available loading path for each second preselected loading position, and output the second preselected loading position with the shortest length of the available loading path as the optimal loading position.

[0048] Specifically, the optimal loading position is represented by longitude and latitude data.

[0049] This embodiment can evaluate candidate loading positions and select the optimal loading position according to actual terrain conditions and entry and exit path planning requirements. It is flexible and can improve work efficiency and safety.

[0050] Step 5: In response to the difference between the terrain data of the loading area at the next sampling moment and the terrain data of the loading area at the current sampling moment, the optimal loading position is updated.

[0051] Step 5.1: Obtain the loading position data at the current sampling moment and the terrain data of the loading area at the next sampling moment.

[0052] Compared with the terrain data at the current sampling moment, the position of obstacles in the loading area, the height of obstacles in the loading area, and the material boundary data in the terrain data at the next sampling moment will change.

[0053] Step 5.2: Based on the obtained loading position data at the current sampling moment and the terrain data of the loading area at the next sampling moment, a plurality of candidate loading positions meeting the operating conditions are obtained again.

[0054] Specifically, by updating the range of materials to be loaded and updating the loading range of the loading vehicle, a plurality of candidate loading positions meeting the operating conditions can be obtained again.

[0055] Step 5.3: Based on the terrain data of the loading area at the next sampling time and the entry and exit path planning requirements, the optimal loading position is updated from the multiple candidate loading positions that meet the operating conditions.

[0056] This embodiment can update the optimal loading position in real time according to the changes in terrain during the operation.

[0057] This embodiment adaptively obtains the optimal loading position, which can shorten the time spent by the loading equipment to set the loading position. Especially in the narrow working area scenario, it can significantly reduce the cost of operators' trials and improve working efficiency. Example 2

[0058] This embodiment provides an adaptive loading position planning device, including: Acquisition module: used to acquire the set initial loading position data and the terrain data of the loading area at the current sampling time; Candidate loading position determination module: used to obtain multiple candidate loading positions that meet the operating conditions based on the acquired initial loading position data and the terrain data of the loading area at the current sampling time; Optimal loading position determination module: used to obtain the optimal loading position from multiple candidate loading positions that meet the operating conditions based on the terrain data of the loading area at the current sampling time and the entry and exit path planning requirements; Update module: used for updating the optimal loading position in response to the difference between the terrain data of the loading area at the next sampling moment and the terrain data of the loading area at the current sampling moment.

[0059] In this embodiment, the acquisition module includes an initial loading position acquisition module and a terrain scanning module.

[0060] The initial loading position acquisition module is connected to the interactive interface of the vehicle-side control system of the loading vehicle and the high-precision positioning module.

[0061] The high-precision positioning module is used to obtain the loading position data at the current sampling moment. Using high-precision satellite positioning technology, it can accurately determine the latitude and longitude information of the loading position, providing accurate basic data for subsequent calculations.

[0062] The interactive interface of the loader vehicle control system is used to obtain the initial loading position manually set by the loading equipment operator. The high-definition display screen can clearly display information, and has anti-glare, waterproof and dustproof functions, adapting to the harsh working environment of the mine, and facilitating the excavator driver to operate and input information.

[0063] The terrain scanning module is connected to the data acquisition device on the loader to process and initially merge the collected terrain data. The data acquisition device is installed on the mining truck, including but not limited to terrain scanning sensors such as cameras and lidar, which can accurately collect information such as material pile boundaries and obstacles in real time. Example 3

[0064] This embodiment provides a computer-readable storage medium having a computer program / instruction stored thereon, characterized in that when the computer program / instruction is executed by a processor, the steps of the adaptive loading position planning method described in Embodiment 1 are implemented. Example 4

[0065] This embodiment provides a computer device, characterized by comprising: Memory, for storing computer programs / instructions; A processor is used to execute the computer program / instructions to implement the steps of the adaptive loading position planning method described in Example 1.

[0066] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0067] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0068] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0069] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0070] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. An adaptive loading location planning method, characterized in that: include: Obtaining the set initial loading position data and the terrain data of the loading area at the current sampling time; According to the acquired initial loading position data and the terrain data of the loading area at the current sampling time, a plurality of candidate loading positions meeting the operation conditions are obtained; According to the terrain data of the loading area at the current sampling time and the entry and exit path planning requirements, the optimal loading position is obtained from multiple candidate loading positions that meet the operating conditions; In response to a difference between the terrain data of the loading area at a next sampling moment and the terrain data of the loading area at a current sampling moment, the optimal loading position is updated.

2. The adaptive loading position planning method according to claim 1, characterized in that: The set initial loading position data includes initial longitude and latitude data and initial heading angle data of the loading vehicle at the set initial loading position.

3. The adaptive loading position planning method according to claim 1, characterized in that: The terrain data of the loading area at the current sampling moment includes: loading area map boundary data, loading area terrain flatness, loading area slope, obstacle position in the loading area, obstacle height in the loading area and material boundary data at the current sampling moment.

4. The adaptive loading position planning method according to claim 2, characterized in that: The method obtains a plurality of candidate loading positions that meet the operation conditions based on the acquired initial loading position data and the terrain data of the loading area at the current sampling time, including: Determine the range of materials to be loaded based on the loading area map boundary data and the material boundary data at the current sampling time; Determine the loading range of the loading vehicle based on the acquired initial loading position data and the range of the material to be loaded; In the loading range of the loading vehicle, in response to the loading area terrain flatness of any area being less than a preset flatness threshold and the loading area slope being less than a preset slope threshold, the area is determined as a candidate loading area for the loading vehicle; wherein there are multiple candidate loading areas for the loading vehicle; Based on the position of the obstacle in the loading area, the distance between any loading position in the loading candidate area of ​​the loading vehicle and the obstacle is calculated; In response to the distance between any loading position and an obstacle whose height is greater than a preset height threshold being greater than a preset obstacle distance threshold, the loading position is determined as a loading alternative area for loading the vehicle as a candidate loading position that meets the operating conditions; wherein there are multiple candidate loading positions that meet the operating conditions.

5. The adaptive loading position planning method according to claim 2, characterized in that: The method of obtaining the optimal loading position from a plurality of candidate loading positions that meet the operating conditions according to the terrain data of the loading area at the current sampling time and the entry and exit path planning requirements includes: Get the operating range of the loading vehicle; Based on the loading area map boundary data and the operating range of the loading vehicle, determining whether the operating range of the loading vehicle exceeds the range of the loading area when performing the device task at the candidate loading position, and determining the candidate loading position whose operating range does not exceed the range of the loading area as the first pre-selected loading position; Based on the position of obstacles in the loading area, the height of obstacles in the loading area and the entry and exit path planning requirements, obtaining whether there is an available loading path from the set initial loading position to the first pre-selected loading position, and determining the candidate loading position with the available loading path as the second pre-selected loading position; When the number of the second preselected loading positions is 1, outputting the second preselected loading position as the optimal loading position; When the number of the second preselected loading positions is not 1, the length of the available loading path of each second preselected loading position is calculated, and the second preselected loading position with the shortest available loading path is output as the optimal loading position.

6. The adaptive loading position planning method according to claim 5, characterized in that: The candidate loading positions and the optimal loading position are longitude and latitude data.

7. The adaptive loading position planning method according to claim 1, characterized in that: In response to the difference between the terrain data of the loading area at the next sampling moment and the terrain data of the loading area at the current sampling moment, updating the optimal loading position includes: Obtain the loading position data at the current sampling moment and the terrain data of the loading area at the next sampling moment; Re-obtain multiple candidate loading positions that meet the operating conditions based on the obtained loading position data at the current sampling time and the terrain data of the loading area at the next sampling time; According to the terrain data of the loading area at the next sampling time and the entry and exit path planning requirements, the optimal loading position is updated from multiple candidate loading positions that meet the operating conditions.

8. An adaptive loading position planning device, characterized in that: include: Acquisition module: used to acquire the set initial loading position data and the terrain data of the loading area at the current sampling time; Candidate loading position determination module: used to obtain multiple candidate loading positions that meet the operating conditions based on the acquired initial loading position data and the terrain data of the loading area at the current sampling time; Optimal loading position determination module: used to obtain the optimal loading position from multiple candidate loading positions that meet the operating conditions based on the terrain data of the loading area at the current sampling time and the entry and exit path planning requirements; Update module: used for updating the optimal loading position in response to the difference between the terrain data of the loading area at the next sampling moment and the terrain data of the loading area at the current sampling moment.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the steps of the adaptive loading position planning method described in any one of claims 1-7 are implemented.

10. A computer device, characterized in that: include: Memory, for storing computer programs / instructions; A processor, configured to execute the computer program / instructions to implement the steps of the adaptive loading location planning method according to any one of claims 1-7.

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