Operation method and device of unmanned loader and unmanned loader
Through automatic operation of attitude adjustment and current control, the unmanned loader solves the problems of low efficiency and poor safety in stacking materials by loaders, achieving efficient and safe material stacking.
Patent Information
- Application Number
- CN202510718758.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-30
- Publication Date
- 2025-07-18
AI Technical Summary
In the prior art, loaders have low efficiency and poor safety. Manual operation leads to fatigue and scattering of materials, and cannot ensure neat stacking.
The unmanned loader performs multiple repeated operations by adjusting the attitude, including pushing the material into the bucket, driving forward and adjusting the attitude to stack the material, combining the control current management of the boom and bucket to achieve automatic stacking.
It improves the efficiency and safety of material stacking, ensures that the materials are stacked neatly, reduces scattering, and improves the safety of the working area.
Smart Images
Figure CN120331326A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of automation technology, and in particular to an operation method, device and unmanned loader of an unmanned loader. Background Art
[0002] In scenarios such as mines, ports, railways, and industries, loaders are widely used to perform tasks such as material loading and unloading. Summary of the Invention
[0003] Currently, materials are placed in the operation area of the loader, and the occupied area is reduced by stacking. However, in the related art, on the one hand, the efficiency of stacking materials is low; on the other hand, the stacked materials are prone to scatter, resulting in low safety in the operation area.
[0004] After analysis, it is found that in the related art, goods are stacked manually, and long-term work will cause operators to be fatigued, resulting in a decrease in the efficiency of stacking materials. At the same time, there are differences in the technical levels and operating habits of different operators, and it is impossible to ensure that the stacked materials are neatly stacked, resulting in the stacked materials being prone to scatter, reducing the safety in the operation area.
[0005] To solve the above problems, the embodiments of the present disclosure propose the following solutions.
[0006] According to one aspect of the embodiments of the present disclosure, there is provided an operation method of an unmanned loader, including: the unmanned loader performs at least one repeated operation, and each repeated operation includes: the unmanned loader performs a first operation to push the material into the bucket of the unmanned loader, and the first operation includes adjusting the attitude of the unmanned loader from an initial attitude to a first attitude during the process of traveling to a first position where the material needs to be stacked, wherein, in the first attitude, the direction from the rotation center of the boom of the unmanned loader to the connection point between the boom and the bucket faces the ground, the tip of the bucket faces the ground, and the angle between the orientation of the tip and the ground in front of the unmanned loader is a first angle, and the first angle is greater than or equal to 0 degrees and less than 90 degrees; when the bucket reaches the first position, the unmanned loader performs a second operation to stack the material, and the second operation includes adjusting the attitude of the unmanned loader to a second attitude during the process of traveling forward a preset distance, wherein, in the second attitude, the direction from the rotation center of the boom to the connection point is away from the ground, the tip of the bucket faces the ground, and the angle between the orientation of the tip and the ground in front of the unmanned loader is a second angle, and the second angle is greater than the first angle; after stacking the material, the unmanned loader performs a third operation, and the third operation includes adjusting the attitude of the unmanned loader to the initial attitude during the process of traveling to a second position.
[0007] In some embodiments, the at least one repeated operation includes multiple first repeated operations after the unmanned loader enters the operation area and before performing the loading operation. The second positions in the multiple first repeated operations are different, and the second position is different from the position where the unmanned loader starts to perform the first operation in the first first repeated operation.
[0008] In some embodiments, the adjacent first positions in the multiple first repeated operations are different.
[0009] In some embodiments, the distance between adjacent second positions in the multiple first repeated operations is the same fixed distance.
[0010] In some embodiments, the distance between the position where the first operation starts in the first first repeated operation and the second position in the last first repeated operation is the length of the stacking area for stacking the material, and the distance between the position where the first operation starts in the first first repeated operation and the second position in the first first repeated operation is the fixed distance.
[0011] In some embodiments, the at least one repeated operation includes multiple second repeated operations during the process of the unmanned loader performing the loading operation. The second position in the multiple second repeated operations is the position where the unmanned loader starts to perform the first operation in the first second repeated operation.
[0012] In some embodiments, according to the first relationship between the angle between the direction from the rotation center to the connection point and the ground in front of the unmanned loader and the control current of the boom cylinder for controlling the boom, determine the first control current of the boom cylinder when the unmanned loader performs the first operation, the second operation, and the third operation; according to the second relationship between the angle between the orientation of the tooth tip and the ground in front of the unmanned loader and the control current of the bucket cylinder for controlling the bucket, determine the second control current of the bucket cylinder when the unmanned loader performs the first operation, the second operation, and the third operation; wherein, the first relationship and the second relationship are obtained based on historical data, and the historical data includes the coordinates of the tooth tip in the initial posture, the coordinates of the tooth tip in the first posture, the coordinates of the tooth tip in the second posture, the length of the boom, the distance from the connection point to the tooth tip, and the distance from the rotation center to the tooth tip.
[0013] In some embodiments, according to the driving force of the engine of the driverless loader, the braking force of the tires of the driverless loader, and the rolling resistance of the tires, the longitudinal acceleration of the driverless loader during driving is determined. The longitudinal acceleration is positively correlated with the driving force and negatively correlated with the braking force and the rolling resistance. According to the longitudinal acceleration, the speed of the driverless loader during driving is controlled.
[0014] In some embodiments, according to the slip angle of the tires of the driverless loader and the cornering stiffness of the tires, the lateral acceleration of the driverless loader during steering is determined. The lateral acceleration is positively correlated with the slip angle and the cornering stiffness. According to the driving torque applied by the engine of the driverless loader to the tires, the braking force of the tires, the rolling resistance of the tires, the radius of the tires, and the moment of inertia of the tires about the vertical direction, the angular acceleration of the tires of the driverless loader during steering is determined. The angular acceleration is positively correlated with the driving torque and negatively correlated with the braking force, the rolling resistance, the moment of inertia, and the radius. According to the lateral acceleration and the angular acceleration, the steering of the tires is controlled.
[0015] In some embodiments, according to the current position of the driverless loader and the environmental map, the first path of the driverless loader when driving to the first position and the second path of the driverless loader when driving to the second position are determined.
[0016] In some embodiments, the first included angle is 0 degrees and the second included angle is 45 degrees.
[0017] According to another aspect of the embodiments of the present disclosure, a working device of a driverless loader is provided, including: a module configured to execute the method described in any one of the above embodiments.
[0018] According to another aspect of the embodiments of the present disclosure, a working device of a driverless loader is provided, including: a memory; and a processor coupled to the memory, the processor being configured to execute the method described in any one of the above embodiments based on instructions stored in the memory.
[0019] According to another aspect of the embodiments of the present disclosure, a driverless loader is provided, including: the working device of the driverless loader described in any one of the above embodiments.
[0020] According to another aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, including computer program instructions, wherein when the computer program instructions are executed by a processor, the steps of the method described in any one of the above embodiments are implemented.
[0021] According to another aspect of the embodiments of the present disclosure, there is provided a computer program product including a computer program, wherein when the computer program is executed by a processor, the steps of the method described in any one of the above embodiments are implemented.
[0022] In the embodiments of the present disclosure, on the one hand, the unmanned loader executes the first operation, the second operation, and the third operation to realize a cycle process of automatically collecting materials, automatically stacking materials, and automatically parking. The unmanned loader can operate continuously, thereby improving the efficiency of stacking materials. On the other hand, when the unmanned loader executes the first operation, the second operation, and the third operation, by adjusting its own posture, it can accurately execute actions, which helps to stack materials neatly and improves the safety in the operation area.
[0023] The technical solutions of the present disclosure will be further described in detail below through the accompanying drawings and embodiments. Description of the Drawings
[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0025] Figure 1 It is a schematic flowchart of the operation method of the unmanned loader according to some embodiments of the present disclosure.
[0026] Figure 2A It is a schematic diagram of the driving path according to some embodiments of the present disclosure.
[0027] Figure 2B It is a schematic diagram of the driving path according to some other embodiments of the present disclosure.
[0028] Figure 2C It is a schematic diagram of the driving path according to some other embodiments of the present disclosure.
[0029] Figure 3 It is a schematic structural diagram of the boarding mechanism of the unmanned loader according to some embodiments of the present disclosure.
[0030] Figure 4 It is a schematic structural diagram of the working device of the unmanned loader according to some embodiments of the present disclosure.
[0031] Figure 5 It is a schematic structural diagram of the working device of the unmanned loader according to some other embodiments of the present disclosure. Detailed Embodiments
[0032] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts belong to the scope of protection of the present disclosure.
[0033] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.
[0034] At the same time, it should be understood that, for the sake of convenience of description, the sizes of the various parts shown in the drawings are not necessarily drawn in actual proportional relationships.
[0035] For technologies, methods, and devices known to those of ordinary skill in the relevant fields, they may not be discussed in detail, but in appropriate cases, the said technologies, methods, and devices should be regarded as part of the specification.
[0036] In all the examples shown and discussed here, any specific value should be construed as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values.
[0037] It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.
[0038] In addition, in the description of the present disclosure, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance and order. Similarly, although the operations are depicted in a specific order in the drawings, this should not be construed as requiring that the operations be performed in the specific order shown or in sequential order, or that all the illustrated operations be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous.
[0039] Figure 1 It is a schematic flow chart of an operation method of an unmanned loader according to some embodiments of the present disclosure. Here, the unmanned loader performs at least one repeated operation, and each repeated operation includes step 102, step 104, and step 106. As some embodiments, the unmanned loader mentioned in the present disclosure includes an upper vehicle mechanism and a lower vehicle mechanism for traveling. The upper vehicle mechanism includes the boom of the unmanned loader and a bucket connected to the boom.
[0040] In step 102, the unmanned loader performs a first operation to push the material into the bucket of the unmanned loader.
[0041] Here, the first operation includes adjusting the attitude of the driverless loader from the initial attitude to the first attitude during the driving process towards the first position where the material needs to be stacked. For example, the initial attitude is the default attitude when the driverless loader is on standby.
[0042] In the first attitude, the direction from the rotation center of the boom of the driverless loader to the connection point of the boom and the bucket faces the ground, the tip of the bucket faces the ground, and the angle between the orientation of the tip of the bucket and the ground in front of the driverless loader is the first angle, and the first angle is greater than or equal to 0 degrees and less than 90 degrees.
[0043] That is to say, during the driving process towards the first position where the material needs to be stacked, the boom of the driverless loader descends and the bucket tends to be flattened to push the material into the bucket of the driverless loader.
[0044] As some embodiments, the first position is located at the edge of the stacking area for stacking materials. For example, the edge of the stacking area can be determined through a point cloud map.
[0045] As some embodiments, the first angle is 0 degrees, that is, the tip of the bucket is parallel to the ground. In this way, it is easier to push the material into the bucket of the driverless loader and improve the efficiency of loading materials.
[0046] In step 104, when the bucket of the driverless loader reaches the first position, the driverless loader performs a second operation to stack the material. For example, when the tip of the bucket of the driverless loader reaches the first position, the driverless loader performs a second operation to stack the material.
[0047] Here, after the bucket of the driverless loader reaches the first position, it continues to move forward, and the second operation includes adjusting the attitude of the driverless loader to the second attitude during the process of moving forward a preset distance. For example, the preset distance is 0.5 meters.
[0048] In the second attitude, the direction from the rotation center of the boom of the driverless loader to the connection point of the boom and the bucket is away from the ground, the tip of the bucket faces the ground, and the angle between the orientation of the tip of the bucket and the ground in front of the driverless loader is the second angle, and the second angle is greater than the first angle.
[0049] That is to say, during the process of moving forward a preset distance, the boom of the driverless loader rises and the bucket is tilted to sprinkle the material pushed into the bucket of the driverless loader in step 102.
[0050] As some embodiments, the second angle is 45 degrees. In this way, it is easier to sprinkle the material out of the bucket and improve the efficiency of stacking materials.
[0051] In step 106, after stacking the materials, the driverless loader performs a third operation. Here, the third operation includes adjusting the attitude of the driverless loader to the initial attitude during the travel to the second position.
[0052] In some embodiments, the second position may be a designated position. How to determine the second position will be introduced in combination with some embodiments hereinafter.
[0053] In the above embodiments, on the one hand, the driverless loader performs the first operation, the second operation and the third operation to realize the cyclic process of automatic material collection, automatic material stacking and automatic parking. The driverless loader can operate continuously, thereby improving the efficiency of stacking materials. On the other hand, when performing the first operation, the second operation and the third operation, the driverless loader can accurately perform actions by adjusting its own attitude, which helps to stack the materials neatly and improves the safety in the operation area.
[0054] In the actual working environment, after the driverless loader enters the operation area, it first stacks the materials and then performs a loading operation. For example, the loading operation means that the driverless loader loads the materials into a transport vehicle.
[0055] In some embodiments, at least one repeated operation performed by the driverless loader includes multiple first repeated operations after the driverless loader enters the operation area and before performing the loading operation. Here, the second positions in the multiple first repeated operations are different, and the second position is different from the position where the driverless loader starts to perform the first operation in the first first repeated operation.
[0056] That is to say, after the driverless loader reaches the second position, it can repeatedly perform the first operation, the second operation and the third operation to stack more materials in the stacking area for stacking materials.
[0057] In some implementation manners, in different cycles of repeating the first operation, the second operation and the third operation, the first position is different and the second position is different. In this way, the materials at different positions can be shoveled into the bucket and stacked at different positions.
[0058] It should be understood that the second position in the previous repeated operation is the position where the first operation starts to be performed in the next repeated operation.
[0059] Figure 2A It is a schematic diagram of the travel path according to some embodiments of the present disclosure.
[0060] As some embodiments, as Figure 2A shown, after the driverless loader 204 enters the operation area and before performing the loading operation, the starting point of the travel path of the driverless loader 204 is position "0", and it successively passes through positions "1" to "7", and finally returns from position "7" to position "6".
[0061] Specifically, the unmanned loader 204 performs a first operation at position "0" to push the material between position "0" and position "1" into the bucket of the unmanned loader 204. Then, the unmanned loader 204 travels to position "1" (i.e., the first position). After stacking the material at position "1", it performs a third operation and travels to position "2" (i.e., the designated position).
[0062] Similarly, the unmanned loader 204 performs a first operation at position "2" to push the material between position "2" and position "3" into the bucket of the unmanned loader 204. Then, the unmanned loader 204 travels to position "3". After stacking the material at position "3", it performs a third operation and travels to position "4"; the unmanned loader 204 performs a first operation at position "4" to push the material between position "4" and position "5" into the bucket of the unmanned loader 204. Then, the unmanned loader 204 travels to position "5". After stacking the material at position "5", it performs a third operation and travels to position "6".
[0063] The unmanned loader 204 performs a first operation at position "6" to push the material between position "6" and position "7" into the bucket of the unmanned loader 204. Then, the unmanned loader 204 travels to position "7". After stacking the material at position "7", it performs a third operation and returns to position "6".
[0064] In the above embodiment, after the unmanned loader enters the operation area and before performing the loading operation, multiple repeated operations with different second positions are performed, so that the materials between different second positions and the first position can be collected, and more materials can be stacked in the stacking area for stacking materials, which helps to improve the efficiency of collecting materials.
[0065] In some embodiments, the distance between adjacent second positions in multiple first repeated operations is the same fixed distance. For example, the distance between position "2" and position "4" and the distance between position "4" and position "6" are the same fixed distance. In this way, the uniformly distributed second positions can enable the unmanned loader to evenly collect the scattered materials in the operation area, which helps to improve the efficiency of collecting materials.
[0066] In some embodiments, the distance between the position where the first operation starts in the first first repeated operation and the second position in the last first repeated operation is the length of the stacking area for stacking materials.
[0067] Here, the distance between the position where the first operation starts in the first first repeated operation and the second position in the first first repeated operation is the above-mentioned fixed distance.
[0068] For example, asFigure 2A As shown, the distances between position “0” and position “2”, between position “2” and position “4”, and between position “4” and position “6” are the same fixed distances, and the sum of these distances is the length of the stacking area 201.
[0069] In this way, the unmanned loader can evenly collect the materials scattered beside the stacking area starting from the position where it starts to perform the first operation in the first first repeated operation, which helps to further improve the efficiency of collecting materials.
[0070] In some embodiments, the adjacent first positions in multiple first repeated operations are different. For example, as Figure 2A shown, the positions of position “1” and position “3” are different, the positions of position “3” and position “5” are different, and the positions of position “5” and position “7” are different.
[0071] In the above embodiments, the adjacent first positions in multiple first repeated operations are different. Compared with stacking the materials in one place, dispersing the materials and stacking them at different positions in the stacking area can reduce the possibility of the materials tipping over, which helps to improve the safety of the loading operation.
[0072] In the actual working environment, during the loading operation, materials may be scattered beside the stacking area. In this case, the unmanned loader can stack the scattered materials back into the stacking area by performing the first operation, the second operation, and the third operation.
[0073] In some other embodiments, at least one repeated operation performed by the unmanned loader includes multiple second repeated operations during the process of the unmanned loader performing the loading operation.
[0074] Here, the second position in multiple second repeated operations is the position where the unmanned loader starts to perform the first operation in the first second repeated operation.
[0075] Figure 2B is a schematic diagram of the driving path according to some other embodiments of the present disclosure. Figure 2C is a schematic diagram of the driving path according to some other embodiments of the present disclosure.
[0076] As some implementation manners, as Figure 2B shown, the position where the unmanned loader 204 starts to perform the first operation in the first second repeated operation is point P, the first position is point Q, and the second position is point P. That is to say, the unmanned loader 204 performs the first operation at point P to push the materials between point P and point Q into the bucket of the unmanned loader 204, and then the unmanned loader 204 travels to point Q (i.e., the first position), and after stacking the materials at point Q, it performs the third operation and returns to point P.
[0077] Similarly, as Figure 2C shown, the position where the unmanned loader 204 starts to execute the first operation in the first second repeated operation is point M, the first position is point N, and the second position is point M. That is to say, the unmanned loader 204 executes the first operation at point M to push the material between point M and point N into the bucket of the unmanned loader 204, and then the unmanned loader 204 travels to point N (i.e., the first position), and after stacking the material at point N, it executes the third operation to return to point M.
[0078] In the above embodiments, on the one hand, the unmanned loader traveling back and forth to the same position can reduce the workload of path planning, which helps to improve the efficiency of path planning of the unmanned loader; on the other hand, the same round-trip path can reduce the occupation of the site space by the driving path, which helps to save the site space.
[0079] Next, in combination with Figure 2A , Figure 2B and Figure 2C introduce how to determine the paths when the unmanned loader travels to the first position and the second position.
[0080] In some embodiments, according to the current position of the unmanned loader and the environmental map, determine the first path when the unmanned loader travels to the first position and the second path when the unmanned loader travels to the second position. For example, the environmental map is a point cloud map.
[0081] As some implementation manners, as Figure 2A shown, taking the single process that the unmanned loader 204 executes the first operation at position "0" to push the material between position "0" and position "1" into the bucket of the unmanned loader 204, and then the unmanned loader 204 travels to position "1", and after stacking the material at position "1", it executes the third operation to travel to position "2" as an example, the first path is the straight-line path 202 for the unmanned loader 204 to travel from position "0" to position "1", and the second path is the straight-line path 203 for the unmanned loader 204 to travel from position "1" to position "2".
[0082] Here, the straight-line path 202 is the shortest path from position "0" to position "1", and the straight-line path 203 is the shortest path from position "1" to position "2".
[0083] As some implementation manners, the unmanned loader can obtain the point cloud data of the environment through the mounted lidar, and establish a point cloud map according to the point cloud data.
[0084] As some implementation manners, the unmanned loader can determine the current position of the unmanned loader in the point cloud map through the mounted positioning device.
[0085] In some embodiments, the driverless loader can perform obstacle avoidance operations during driving. For example, the driverless loader can identify whether there are obstacles in the driving direction through the mounted vision sensor.
[0086] In this way, the driverless loader can travel from the position where the first operation starts to the first position faster, and then travel from the first position to the second position, which helps to further improve the efficiency of the driverless loader in stacking materials.
[0087] In some embodiments, as Figure 2B shown, when the driverless loader 204 in the initial posture faces the stacking area 201, the first path is the straight-line path 202a from point P to point Q of the driverless loader, and the straight-line path 202a is the shortest path from point P to point Q. Here, the second path is also the straight-line path 202a.
[0088] In this way, the driverless loader can travel back and forth between the first position and the position where the first operation starts faster, which helps to further improve the efficiency of the driverless loader in stacking materials.
[0089] In some embodiments, as Figure 2C shown, when the driverless loader 204 in the initial posture does not face the stacking area 201, the first path is the curved path 202b from point M to point N of the driverless loader. Here, the second path is also the curved path 202b. For example, the curved path 202b is a parabola.
[0090] In this way, when the driverless loader in the initial posture does not face the stacking area, the driverless loader can smoothly drive towards the first position along the curved path, which helps to improve the stability of the driverless loader when turning.
[0091] Next, in combination with Figure 3 , a technical solution for controlling the boom and bucket of the driverless loader according to some embodiments of the present disclosure will be introduced.
[0092] Figure 3 is a schematic structural diagram of the upper vehicle mechanism of the driverless loader according to some embodiments of the present disclosure.
[0093] In some embodiments, as Figure 3 shown, the rotation center of the boom is represented by point A, the connection point of the boom and the bucket is represented by point B, the tip of the bucket teeth is represented by point C, the connection line from point A to point D is parallel to the ground, and points A, B, C, and D are in the same plane.
[0094] According to the first relationship between the angle θ1 between the direction from point A to point B and the ground in front of the unmanned loader and the control current of the boom cylinder for controlling the boom, determine the first control current of the boom cylinder when the unmanned loader performs the first operation, the second operation, and the third operation; according to the second relationship between the angle θ2 between the orientation of the tip of the bucket and the ground in front of the unmanned loader and the control current of the bucket cylinder for controlling the bucket, determine the second control current of the bucket cylinder when the unmanned loader performs the first operation, the second operation, and the third operation.
[0095] Here, the first relationship and the second relationship are obtained based on historical data, and the historical data includes the coordinates of point C in the initial posture, the coordinates of point C in the first posture, the coordinates of point C in the second posture, the length of the boom (i.e., the distance between point A and point B), the distance from point B to point C, and the distance from point A to point C.
[0096] Specifically, pre-control the unmanned loader to perform the first operation, the second operation, and the third operation, and record θ1 when the boom moves and the corresponding control current, as well as θ2 when the bucket moves and the corresponding control current.
[0097] In this case, during the automated operation of the unmanned loader, the first control current can be used to control θ1, and thus control the rising and falling of the boom; the second control current can be used to control θ2, and thus control the flattening and flipping of the bucket.
[0098] As some embodiments, the coordinates of point C in the initial posture can be determined according to the length of the boom, the distance from point B to point C, θ1, and θ2.
[0099] For example, the coordinates of point C in the initial posture can be solved by the equation Here, x represents the horizontal coordinate of point C in the initial posture, y represents the vertical coordinate of point C in the initial posture, AB represents the length of the boom, and BC represents the distance from point B to point C. For example, the length of the boom, the distance from point B to point C, θ1, and θ2 can be referred to as the decision control parameters of the upper vehicle mechanism.
[0100] As some embodiments, the angle θ1' between the direction from point A to point B and the ground in front of the unmanned loader during the automated operation of the unmanned loader and the angle θ2' between the orientation of the tip of the bucket and the ground in front of the unmanned loader during the automated operation of the unmanned loader can be determined by means of inverse kinematics solution.
[0101] For example, the kinematic solution equation is: .
[0102] Here, AC represents the distance from point A to point C, θ1’ represents the angle between the direction from point A to point B and the ground in front of the driverless loader during the automated operation; θ2’ represents the angle between the orientation of the tip of the bucket and the ground in front of the driverless loader during the automated operation.
[0103] In some embodiments, the driverless loader can obtain the first relationship and the second relationship based on historical data. In some other embodiments, the driverless loader receives the first relationship and the second relationship from the industrial control computer. For example, the driverless loader communicates with the industrial control computer using the Robot Operating System (ROS).
[0104] In the above embodiments, by pre-controlling the driverless loader to perform different operations, and recording the angles and corresponding control currents when the boom moves, as well as the angles and corresponding control currents when the bucket moves, it is then possible to control the raising and lowering of the boom using the first control current and control the flattening and flipping of the bucket using the second control current, thereby realizing the automated operation of the driverless loader.
[0105] In some embodiments, based on the driving force of the engine of the driverless loader, the braking force of the tires of the driverless loader, and the rolling resistance of the tires, the longitudinal acceleration when the driverless loader is traveling is determined, and based on this longitudinal acceleration, the speed when the driverless loader is traveling is controlled.
[0106] Here, the longitudinal acceleration is positively correlated with the driving force of the engine of the driverless loader, and the longitudinal acceleration is negatively correlated with the braking force of the tires of the driverless loader and the rolling resistance of the tires.
[0107] In some embodiments, the longitudinal acceleration when the driverless loader is traveling can be determined through the formula F d -F b -F r =ma x Here, F d represents the driving force of the engine of the driverless loader, F b represents the braking force of the tires of the driverless loader, F r represents the rolling resistance of the tires, m represents the mass of the driverless loader, and a x represents the longitudinal acceleration.
[0108] For example, when it is desired to accelerate the driverless loader, F d can be increased and / or F b can be decreased to increase a x . Also, for example, when it is desired to decelerate the driverless loader, F d can be decreased and / or F b can be increased to decrease a xIt should be understood that when the driverless loader is running, the rolling resistance of the tires cannot be actively adjusted.
[0109] In the above embodiments, when controlling the speed of the driverless loader during driving, power, braking force, and rolling resistance are comprehensively considered, so that the speed of the driverless loader during driving can be controlled more accurately, which helps to improve the stability of the driverless loader during driving.
[0110] In some embodiments, according to the sideslip angle of the tire and the sideslip stiffness of the tire, the lateral acceleration during the steering of the driverless loader is determined; according to the driving torque applied by the engine to the tire, the braking force of the tire, the rolling resistance of the tire, the radius of the tire, and the moment of inertia of the tire about the vertical direction, the angular acceleration of the tire during the steering of the driverless loader is determined; according to the lateral acceleration and the angular acceleration, the steering of the tire is controlled.
[0111] Here, the lateral acceleration is positively correlated with the sideslip angle of the tire and the sideslip stiffness of the tire, and the angular acceleration is positively correlated with the driving torque applied by the engine to the tire, and the angular acceleration is negatively correlated with the braking force of the tire, the rolling resistance of the tire, the moment of inertia of the tire about the vertical direction, and the radius of the tire.
[0112] As some embodiments, the lateral acceleration during the driving of the driverless loader can be determined by the formula ma y = kα. Here, a y represents the lateral acceleration, k represents the sideslip stiffness of the tire, and α represents the sideslip angle of the tire.
[0113] As some embodiments, the angular acceleration during the driving of the driverless loader can be determined by the formula T - F r R - F b R = Iω'.
[0114] Here, T represents the driving torque applied by the engine to the tire, R represents the radius of the tire, I represents the moment of inertia of the tire about the vertical direction, and ω' represents the angular acceleration during the driving of the driverless loader.
[0115] As some embodiments, F d 、F b 、F r 、m, k, α, T, R, and I can be referred to as the decision control parameters of the undercarriage mechanism.
[0116] In the above embodiments, when controlling the steering of the tires of the driverless loader, the sideslip angle of the tire, the sideslip stiffness of the tire, the driving torque applied by the engine to the tire, the braking force of the tire, the rolling resistance of the tire, the radius of the tire, and the moment of inertia of the tire about the vertical direction are considered, so that the steering of the tires of the driverless loader can be controlled more accurately, which helps to improve the stability of the driverless loader during driving.
[0117] In some embodiments, reference data can be obtained through sensors provided on the driverless loading machine, and the reference data includes the driving force of the engine of the driverless loading machine, the braking force of the tires of the driverless loading machine, the mass of the driverless loading machine, the sideslip angle of the tires, the driving torque exerted by the engine on the tires, and the moment of inertia of the tires about the vertical direction. For example, the sensors communicate with the driverless loading machine using a Controller Area Network (CAN) bus.
[0118] As some implementation manners, the obtained reference data is subjected to noise reduction processing. For example, abnormal values in the reference data are removed by using a filtering method or a denoising method based on deep learning. In this way, the accuracy and reliability of the reference data can be improved.
[0119] In the present specification, each embodiment is described in a progressive manner. The key point of each embodiment is the difference from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the device embodiments, since they basically correspond to the method embodiments, the description is relatively simple, and for the relevant parts, reference can be made to the partial description of the method embodiments.
[0120] In some embodiments, the working device of the driverless loading machine includes modules for performing the method of any one of the above embodiments.
[0121] Figure 4 is a schematic structural diagram of a working device of a driverless loading machine according to some embodiments of the present disclosure.
[0122] As Figure 4 shown, the working device of the driverless loading machine includes a first execution module 401, a second execution module 402, and a third execution module 403.
[0123] The first execution module 401 is configured to perform a first operation for the driverless loading machine to push materials into the bucket of the driverless loading machine. The first operation includes adjusting the posture of the driverless loading machine from an initial posture to a first posture during the process of driving towards a first position where the materials need to be stacked. In the first posture, the direction from the rotation center of the boom to the connection point between the boom and the bucket faces the ground, the tip of the bucket faces the ground, and the angle between the orientation of the tip and the ground in front of the driverless loading machine is a first angle, and the first angle is greater than or equal to 0 degrees and less than 90 degrees.
[0124] The second execution module 402 is configured to perform a second operation for the driverless loading machine to stack materials when the bucket reaches the first position. The second operation includes adjusting the posture of the driverless loading machine to a second posture during the process of driving forward a preset distance. In the second posture, the direction from the rotation center of the boom to the connection point is away from the ground, the tip of the bucket faces the ground, and the angle between the orientation of the tip and the ground in front of the driverless loading machine is a second angle, and the second angle is greater than the first angle.
[0125] The third execution module 403 is configured such that after stacking the materials, the driverless loader performs a third operation, which includes adjusting the attitude of the driverless loader to the initial attitude during the travel to the second position.
[0126] In some embodiments, the working device of the driverless loader may further include other modules to execute the working method of the driverless loader in any of the above embodiments.
[0127] Figure 5 It is a schematic structural diagram of the working device of a driverless loader according to some other embodiments of the present disclosure.
[0128] As Figure 5 shown, the working device 500 of the driverless loader includes a memory 501 and a processor 502 coupled to the memory 501. The processor 502 is configured to execute the method in any of the foregoing embodiments based on instructions stored in the memory 501.
[0129] The memory 501 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.
[0130] In some embodiments, the working device 500 of the driverless loader may further include an input / output interface 503, a network interface 504, a storage interface 505, etc. The input / output interface 503, the network interface 504, and the storage interface 505, and between the memory 501 and the processor 502 may be connected through a bus 506, for example. The input / output interface 503 provides a connection interface for input / output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 504 provides a connection interface for various networking devices. The storage interface 505 provides a connection interface for external storage devices such as an SD card and a USB flash drive.
[0131] Embodiments of the present disclosure further provide a driverless loader, including the working device of the driverless loader in any of the above embodiments.
[0132] Embodiments of the present disclosure further provide a computer-readable storage medium, including computer program instructions, which, when executed by a processor, implement the steps of the method in any of the above embodiments.
[0133] Embodiments of the present disclosure further provide a computer program product, including a computer program, which, when executed by a processor, implements the steps of the method in any of the above embodiments.
[0134] Having described the embodiments of the present disclosure in detail, some details well known in the art are not described to avoid obscuring the concept of the present disclosure. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.
[0135] Those skilled in the art should understand that the embodiments of the present disclosure can be provided as a method, a system, or a computer program product. Therefore, the present disclosure can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.
[0136] The present disclosure is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that the functions specified in one or more flows in the flowchart and / or one or more blocks in the block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one or more flows and / or Figure 1 one or more blocks.
[0137] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one or more flows and / or Figure 1 one or more blocks.
[0138] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are performed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one or more flows and / or Figure 1 one or more blocks.
[0139] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and not for limiting the scope of the present disclosure. Those skilled in the art should understand that the above embodiments can be modified or some technical features can be equivalently replaced without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.
Claims
1. An operation method of an unmanned loader, comprising: The unmanned loader performs at least one repeated operation, and each repeated operation includes: The unmanned loader performs a first operation to push the material into the bucket of the unmanned loader. The first operation includes adjusting the attitude of the unmanned loader from an initial attitude to a first attitude during the travel to a first position where the material needs to be stacked. In the first attitude, the direction from the rotation center of the boom to the connection point between the boom and the bucket faces the ground, the tip of the bucket faces the ground, and the included angle between the orientation of the tip and the ground in front of the unmanned loader is a first included angle, and the first included angle is greater than or equal to 0 degrees and less than 90 degrees; When the bucket reaches the first position, the unmanned loader performs a second operation to stack the material. The second operation includes adjusting the attitude of the unmanned loader to a second attitude during the travel of a preset distance forward. In the second attitude, the direction from the rotation center of the boom to the connection point is away from the ground, the tip of the bucket faces the ground, and the included angle between the orientation of the tip and the ground in front of the unmanned loader is a second included angle, and the second included angle is greater than the first included angle; After stacking the material, the unmanned loader performs a third operation, and the third operation includes adjusting the attitude of the unmanned loader to the initial attitude during the travel to a second position.
2. The method according to claim 1, wherein The at least one repeated operation includes multiple first repeated operations after the unmanned loader enters the operation area and before performing the loading operation. The second positions in the multiple first repeated operations are different, and the second position is different from the position where the unmanned loader starts to perform the first operation in the first first repeated operation.
3. The method according to claim 2, wherein, The adjacent first positions in the multiple first repeated operations are different.
4. The method according to claim 2, wherein, The distance between adjacent second positions in the multiple first repeated operations is the same fixed distance.
5. The method according to claim 4, wherein The distance between the position where the first operation starts in the first first repeated operation and the second position in the last first repeated operation is the length of the stacking area for stacking the material, and the distance between the position where the first operation starts in the first first repeated operation and the second position in the first first repeated operation is the fixed distance.
6. The method according to claim 1, wherein, The at least one repeated operation includes multiple second repeated operations during the process of the unmanned loader performing the loading operation. The second position in the multiple second repeated operations is the position where the unmanned loader starts to perform the first operation in the first second repeated operation.
7. The method according to any one of claims 1-6 further includes: Determining a first control current of the boom cylinder of the unmanned loader when the unmanned loader performs the first operation, the second operation, and the third operation according to a first relationship between the included angle between the direction from the rotation center to the connection point and the ground in front of the unmanned loader and the control current of the boom cylinder for controlling the boom; Determine a second control current of the bucket cylinder of the driverless loader when the driverless loader performs the first operation, the second operation, and the third operation according to a second relationship between an angle formed by the orientation of the tooth tip and the ground in front of the driverless loader and a control current of the bucket cylinder for controlling the bucket; Wherein, the first relationship and the second relationship are obtained according to historical data, and the historical data includes coordinates of the tooth tip in the initial posture, coordinates of the tooth tip in the first posture, coordinates of the tooth tip in the second posture, a length of the boom, a distance from the connection point to the tooth tip, and a distance from the rotation center to the tooth tip.
8. The method according to any one of claims 1-6, further comprising: Determine a longitudinal acceleration of the driverless loader during driving according to a driving force of the engine of the driverless loader, a braking force of the tires of the driverless loader, and a rolling resistance of the tires, where the longitudinal acceleration is positively correlated with the driving force and negatively correlated with the braking force and the rolling resistance; Control a speed of the driverless loader during driving according to the longitudinal acceleration.
9. The method according to any one of claims 1-6, further comprising: Determine a lateral acceleration of the driverless loader during steering according to a slip angle of the tires of the driverless loader and a cornering stiffness of the tires, where the lateral acceleration is positively correlated with the slip angle and the cornering stiffness; Determine an angular acceleration of the tires of the driverless loader during steering according to a driving torque applied by the engine of the driverless loader to the tires, a braking force of the tires, a rolling resistance of the tires, a radius of the tires, and a moment of inertia of the tires about the vertical direction, where the angular acceleration is positively correlated with the driving torque and negatively correlated with the braking force, the rolling resistance, the moment of inertia, and the radius; Control the steering of the tires according to the lateral acceleration and the angular acceleration.
10. The method according to any one of claims 1-6, further comprising: Determine a first path of the driverless loader when traveling to the first position and a second path of the driverless loader when traveling to the second position according to a current position of the driverless loader and an environmental map.
11. The method according to any one of claims 1-6, wherein, The first included angle is 0 degrees, and the second included angle is 45 degrees.
12. An operating device of a driverless loader, comprising: A module configured to execute the method according to any one of claims 1-11.
13. An operating device of a driverless loader, comprising: A memory; And A processor coupled to the memory and configured to execute the method according to any one of claims 1-11 based on instructions stored in the memory.
14. A driverless loader, comprising: The operating device of the driverless loader according to claim 12 or 13.
15. A computer-readable storage medium, comprising a computer program, wherein, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-11.
16. A computer program product, comprising a computer program, wherein, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-11.