Backfill control system, method, apparatus, medium and program product

Abstract

The invention discloses a backfill control system, method and device, a medium and a program product. The backfill control system comprises a central control module, a bulldozer device and a plurality of mine card devices. The bulldozer equipment is used for generating environment map information; the central control module is used for acquiring current position information and filler carrying information of the plurality of mine card devices; the central control module is also used for generating an earthwork distribution scheme according to the information of the earthwork to be filled, the current position information of the plurality of mine card devices and the filler carrying information, and sending the earthwork distribution scheme to each mine card device; the target mine card equipment is used for working according to the working scheme; the bulldozer equipment is further used for backfilling the earthwork to be filled with the target filler. The backfilling work can be completed without human intervention, the problem of low precision during manual measurement and lofting is avoided, the intelligent degree of earthwork machine operation is improved, and the backfilling efficiency of earthwork backfilling and the control precision of the earthwork machine are improved.

Description

Technical Field

[0001] The present application relates to the field of earthwork engineering technology, and in particular to a backfill control system, method, equipment, medium and program product. Background Art

[0002] Bulldozers play a vital role in civil engineering, particularly in earthmoving projects, where they are used to excavate, move, and place soil. Backfilling is a key aspect of earthmoving projects, involving the replacement of excavated soil into a predetermined location to form the desired landform or foundation for a structure.

[0003] Currently, backfill operations primarily rely on traditional construction methods and techniques. These typically involve manual surveying and staking out, as well as the excavation, transportation, and placement of earth using earthmoving machinery such as bulldozers and general-purpose mining trucks (or "miners"). During construction, workers often need to manually survey the site, stake out areas according to design drawings, and control the operation of earthmoving machinery.

[0004] However, due to the low accuracy of manual measurement and layout and the strong subjectivity of earth-moving machinery operation, problems such as uneven earth distribution, low efficiency of earth-moving machinery operation and poor construction quality are prone to occur in actual backfill operations. Summary of the Invention

[0005] The present application provides a backfill control system, method, equipment, medium and program product to solve the problems in the prior art of uneven earth distribution, low earth-moving machinery operation efficiency and poor construction quality in actual backfill operations due to the low accuracy of manual measurement and layout and the strong subjectivity of earth-moving machinery operation.

[0006] In a first aspect, the present application provides a backfill control system, comprising a central control module, a bulldozer device, and a plurality of mining truck devices; wherein the central control module is connected to the bulldozer device and each of the mining truck devices, and the bulldozer device is connected to each of the mining truck devices;

[0007] The bulldozer equipment is used to generate environmental map information and send the environmental map information to the central control module; wherein the environmental map information includes information of earth to be filled;

[0008] The central control module is used to obtain the current location information and filler carrying information of the multiple mining trucks;

[0009] The central control module is further configured to generate an earthwork allocation plan based on the information of the earthwork to be filled, the current location information of the multiple mining trucks, and the filler transportation information, and send the earthwork allocation plan to each of the mining trucks; wherein the earthwork allocation plan includes a work plan corresponding to a target mining truck;

[0010] The target mining truck device is used to work according to the work plan to unload the target filling material from the earthwork to be filled, and send a work completion message to the bulldozer device after unloading is completed; wherein the target filling material is the filling material carried by the target mining truck device;

[0011] The bulldozer equipment is further configured to backfill the earth to be filled using the target filling material after receiving the work completion information.

[0012] In a second aspect, the present application provides a backfill control method, the method comprising:

[0013] Receive environmental map information sent by the bulldozer equipment, and obtain current location information and filling material transportation information of multiple mining trucks; wherein the environmental map information includes information about the earth to be filled;

[0014] An earthwork allocation plan is generated based on the information of the earthwork to be filled, the current position information of the multiple mining trucks, and the filler transportation information, and the earthwork allocation plan is sent to each of the mining trucks; wherein the earthwork allocation plan includes a work plan corresponding to a target mining truck, so that the target mining truck unloads the target filler at the position of the earthwork to be filled, and the bulldozer equipment uses the target filler to backfill the earthwork to be filled.

[0015] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the backfill control method as described in the second aspect of the present application is implemented.

[0016] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the backfill control method as described in the second aspect of the present application.

[0017] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the backfill control method as described in the second aspect of the present application.

[0018] The solution of the present application is a backfill control system including a central control module, a bulldozer device and multiple mining truck devices; wherein the central control module is connected to the bulldozer device and each mining truck device, and the bulldozer device is connected to each mining truck device; the bulldozer device is used to generate environmental map information and send the environmental map information to the central control module; wherein the environmental map information includes information about the earth to be filled; the central control module is used to obtain current position information of the multiple mining truck devices and filler transportation information; the central control module is also used to generate an earthwork allocation plan based on the information about the earth to be filled, the current position information of the multiple mining truck devices and the filler transportation information, and send the earthwork allocation plan to each mining truck device; wherein the earthwork allocation plan includes a work plan corresponding to a target mining truck device; the target mining truck device is used to work according to the work plan to unload the target filler from the earth to be filled, and send a work completion information to the bulldozer device after the unloading is completed; wherein the target filler is the filler carried by the target mining truck device; the bulldozer device is also used to use the target filler to backfill the earth to be filled after receiving the work completion information. That is, the solution of the present application, the central control module generates an earthwork distribution plan based on the environmental map information sent by the bulldozer and the current position information and filler carrying information of multiple mining trucks, so that the target mining truck unloads the target filler in the earthwork to be filled, and the bulldozer uses the target filler to backfill the earthwork to be filled, so that the backfilling work can be completed without human intervention, avoiding the problem of low accuracy in manual measurement and layout, and improving the intelligence of earthmoving machinery operation, thereby avoiding the problems of uneven earthwork distribution, low operating efficiency of earthmoving machinery and poor construction quality, and improving the backfilling efficiency of earthmoving machinery and the control accuracy of earthmoving machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 It is a structural diagram of the backfill control system provided by this application;

[0021] Figure 2a is another structural schematic diagram of the backfill control system provided by this application;

[0022] Figure 2b is an exemplary structural diagram of the backfill control system provided by this application;

[0023] Figure 2c is an exemplary structural diagram of the bulldozer equipment provided by this application;

[0024] Figure 3 It is a flow chart of the backfill control method provided by this application;

[0025] Figure 4 is a structural diagram of an electronic device provided by this application;

[0026] Description of the accompanying drawings: 1-LiDAR; 2-Tilt sensor; 3-Point cloud coordinate detection unit; 4-In-vehicle human-computer interaction module; 5-In-vehicle terminal. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0028] Figure 1 This is a structural diagram of the backfill control system 01 provided by this application. The system can be applied to the central control module 101 to control the operation of the bulldozer equipment 102 and the mining truck equipment 103. Figure 1 As shown, the backfill control system 01 includes a central control module 101 , a bulldozer device 102 and a plurality of mining truck devices 103 .

[0029] The central control module 101 is connected to the bulldozer device 102 and each mining truck device 103 , and the bulldozer device 102 is connected to each mining truck device 103 .

[0030] The bulldozer equipment 102 is used to generate environmental map information and send the environmental map information to the central control module 101. The environmental map information includes information about the earth to be filled.

[0031] The central control module 101 is used to obtain the current location information and filler carrying information of multiple mining truck devices 103.

[0032] The central control module 101 is further configured to generate an earthwork allocation plan based on the information of the earthwork to be filled, the current location information of the multiple mining trucks 103, and the filling material transportation information, and send the earthwork allocation plan to each mining truck 103. The earthwork allocation plan includes a work plan corresponding to the target mining truck.

[0033] The target mining truck device is used to work according to the work plan to unload the target filling material in the earthwork to be filled, and send a work completion message to the bulldozer device 102 after unloading. The target filling material is the filling material carried by the target mining truck device.

[0034] The bulldozer equipment 102 is further configured to backfill the soil to be filled with the target filling material after receiving the work completion information.

[0035] Specifically, the backfill control system 01 includes a central control module 101, a bulldozer 102, and multiple mining trucks 103. The central control module 101 is the system's control core, responsible for receiving and processing information and generating plans. For example, the central control module 101 can be a large server or a multi-machine collaborative server. The bulldozer 102 is responsible for generating environmental map information and performing backfill operations. For example, the bulldozer 102 can be a bulldozer equipped with a vehicle-mounted terminal. There can be one or more bulldozers 102. The mining trucks 103 are responsible for transporting backfill material and completing unloading tasks according to the assigned plan. For example, the mining trucks 103 can be equipped with a vehicle-mounted terminal. The central control module 101, the bulldozer 102, and each mining truck 103 are connected via a communication link, enabling bidirectional information transmission. The bulldozer 102 is also connected to each mining truck 103 via a communication link, enabling both receiving work completion information and sending instructions. The central control module 101 may further include a user interaction unit for receiving construction design parameters sent by staff, such as earthwork height.

[0036] The bulldozer 102 moves within the construction area, using its onboard environment-generating sensors to scan the surrounding environment and generate an environmental map containing information about the earthwork to be filled. The environmental-generating sensors can be lidar, cameras, or other devices. This information about the earthwork to be filled includes parameters such as its location and height. After generating the environmental map, the bulldozer 102 sends this information to the central control module 101. Through a communication link with each mining truck 103, the central control module 101 obtains real-time information about the truck's current location and the amount of filler being carried, such as the type and volume of the filler currently being carried. Filler is a substance capable of filling the earthwork to be filled. For example, filler can be soil, waste, or other materials. The central control module 101 performs an optimization calculation based on information about the earthwork to be filled, the current locations of multiple mining trucks 103, and information about the filler being transported. This calculation generates an earthwork allocation plan, ensuring that the mining truck 103 closest to the earthwork to be filled and carrying the filler that has completed backfilling the earthwork can reach the earthwork to be filled. The optimization calculation method can be a genetic algorithm, particle swarm optimization algorithm, or other algorithms. After the earthwork allocation plan is generated, the mining truck 103 destined for the earthwork to be filled is identified as the target mining truck, and the earthwork allocation plan is sent to each mining truck 103.

[0037] After receiving the earthwork allocation plan, each mining truck 103 identifies itself as the target mining truck and drives to the designated location to be filled in accordance with the plan, unloading the target fill material it is carrying. After unloading is complete, the target mining truck sends a work completion message to the bulldozer 102, indicating that the target mining truck has completed unloading the fill material. Upon receiving the work completion message from the mining truck, the bulldozer 102 backfills the earthwork using the target fill material based on the location and shape of the earthwork as indicated in the environmental map. For example, the bulldozer 102's onboard terminal controls its robotic arm or bucket, evenly filling the target fill material into the area to be filled, completing the backfill task.

[0038] For example, Figure 2b This is an exemplary structural diagram of the backfill control system provided by this application, such as Figure 2bAs shown, the backfill control system includes a central control module, a bulldozer device, and two mining truck devices. The volume of filler carried by mining truck device A is 1 cubic meter, and the volume of filler carried by mining truck device B is 2 cubic meters. The bulldozer device generates environmental map information, indicating the location of the earth to be filled (not shown in the figure) and the volume of the earth to be filled is 2 cubic meters. The central control module determines that the distance between the two mining truck devices and the earth to be filled is 1 kilometer. At this time, the central control module generates an earthwork allocation plan for mining truck device B to drive to the earth to be filled and unload all the carried filler. After receiving the earthwork allocation plan, mining truck device B drives to the earth to be filled and unloads all the carried filler, that is, the target filler. After unloading is completed, it sends a work completion message to the bulldozer device. After receiving the work completion message, the bulldozer device uses the target filler to backfill the earth to be filled.

[0039] The solution of the present application is a backfill control system including a central control module, a bulldozer device and multiple mining truck devices; wherein the central control module is connected to the bulldozer device and each mining truck device, and the bulldozer device is connected to each mining truck device; the bulldozer device is used to generate environmental map information and send the environmental map information to the central control module; wherein the environmental map information includes information about the earth to be filled; the central control module is used to obtain current position information of the multiple mining truck devices and filler transportation information; the central control module is also used to generate an earthwork allocation plan based on the information about the earth to be filled, the current position information of the multiple mining truck devices and the filler transportation information, and send the earthwork allocation plan to each mining truck device; wherein the earthwork allocation plan includes a work plan corresponding to a target mining truck device; the target mining truck device is used to work according to the work plan to unload the target filler from the earth to be filled, and send a work completion information to the bulldozer device after the unloading is completed; wherein the target filler is the filler carried by the target mining truck device; the bulldozer device is also used to use the target filler to backfill the earth to be filled after receiving the work completion information. That is, the solution of the present application, the central control module generates an earthwork distribution plan based on the environmental map information sent by the bulldozer and the current position information and filler carrying information of multiple mining trucks, so that the target mining truck unloads the target filler in the earthwork to be filled, and the bulldozer uses the target filler to backfill the earthwork to be filled, so that the backfilling work can be completed without human intervention, avoiding the problem of low accuracy in manual measurement and layout, and improving the intelligence of earthmoving machinery operation, thereby avoiding the problems of uneven earthwork distribution, low operating efficiency of earthmoving machinery and poor construction quality, and improving the backfilling efficiency of earthmoving machinery and the control accuracy of earthmoving machinery.

[0040] Figure 2a1 is another structural diagram of the backfill control system 01 provided by the present application. Based on the above embodiment, the bulldozer equipment 102 and the plurality of mining truck equipment 103 in the backfill control system 01 are refined.

[0041] Optionally, the bulldozer equipment 102 includes a first control device 21 and a construction environment detection device 22 connected to each other, wherein the first control device 21 is connected to the central control module 101 , and the first control device 21 is connected to each mining truck equipment 103 .

[0042] The construction environment detection device 22 is used to detect construction environment information and send the construction environment information to the first control device 21 .

[0043] The first control device 21 is configured to generate environment map information according to the construction environment information after receiving the construction environment information, and send the environment map information to the central control module 101 .

[0044] The first control device 21 is further configured to control the bulldozer of the bulldozer equipment 102 to backfill the earth to be filled with the target filling material after receiving the work completion information.

[0045] Specifically, the first control device 21 is the intelligent control unit of the bulldozer 102, capable of receiving and processing information and controlling the bulldozer's construction operations. For example, the first control device 21 is a vehicle-mounted terminal of the bulldozer 102. The construction environment detection device 22 is capable of real-time detection of relevant information in the construction environment, such as terrain, earthwork location, obstacles, etc. The first control device 21 is connected to the central control module 101 and is configured to send environmental map information to the central control module 101. The first control device 21 is connected to each mining truck 103 and is configured to receive work completion information from the mining truck 103. The construction environment detection device 22 is connected to the first control device 21 and is configured to transmit the detected construction environment information to the first control device 21.

[0046] The construction environment detection device 22 scans the construction area in real time using environmental detection sensors, such as lidar, cameras, and ultrasonic sensors, to acquire construction environment information. This information may include the location, height, shape, and volume of earthwork, the topographical features of the construction area, the location and size of obstacles within the construction area, and the slope and humidity of the construction environment. After detecting the construction environment, the construction environment detection device 22 transmits the acquired construction environment information to the first control device 21. Upon receiving the construction environment information from the construction environment detection device 22, the first control device 21 generates a detailed environmental map based on this information. This map includes the precise location and shape of the earthwork to be filled, the topography and obstacle distribution of the construction area, and other geographic information relevant to the construction. The first control device 21 transmits the generated environmental map information to the central control module 101 for use in generating an earthwork allocation plan. The first control device 21 receives a work completion message from the target mining truck via a communication link with the mining truck 103, indicating that the truck has unloaded the target fill material to the designated location. The first control device 21 controls the bulldozer to travel to the target filler according to the environmental map information and the work completion information, and controls the bulldozer of the bulldozer equipment 102 to backfill the earth to be filled with the target filler, for example, controls the bulldozer to push the target filler into the area to be filled and perform leveling operations. The pushing device can be a bulldozer.

[0047] Optionally, the construction environment information includes laser point cloud information, inclination information and point cloud coordinate information, and the construction environment detection device 22 includes a laser point cloud detection unit 221 , an inclination detection unit 222 and a point cloud coordinate detection unit 223 .

[0048] The laser point cloud detection unit 221 is used to detect laser point cloud information and send the laser point cloud information to the first control device 21 .

[0049] The tilt angle detection unit 222 is used to detect tilt angle information and send the tilt angle information to the first control device 21 .

[0050] The point cloud coordinate detection unit 223 is used to detect point cloud coordinate information and send the point cloud coordinate information to the first control device 21 .

[0051] The first control device 21 is used to generate environmental map information according to the laser point cloud information, the inclination information and the point cloud coordinate information, and send the environmental map information to the central control module 101 .

[0052] Specifically, the laser point cloud detection unit 221 uses laser radar technology to scan the construction area, acquiring high-precision three-dimensional point cloud data and outputting laser point cloud information, such as the three-dimensional coordinates of each point and information such as reflection intensity. This information is used to construct a three-dimensional terrain model of the construction area, thereby identifying information such as the location and height of the earthwork. For example, the laser point cloud detection unit 221 may be a laser radar. The tilt angle detection unit 222 detects the tilt angle of the bulldozer equipment 102 or the construction area, where the tilt angle information includes the pitch angle and roll angle of the equipment or the ground. The tilt angle information detected by the tilt angle detection unit 222 is used to assess the slope of the construction area and assist in constructing a three-dimensional terrain model of the construction area. For example, the tilt angle detection unit 222 may be a tilt sensor. The point cloud coordinate detection unit 223 acquires point cloud coordinate information within the construction area, such as longitude, latitude, and elevation, and transmits the point cloud coordinate information to the first control device 21. For example, the point cloud coordinate detection unit 223 may perform detection using real-time kinematic (RTK) technology.

[0053] The first control device 21 receives laser point cloud information and constructs a terrain model. It receives inclination information to obtain the slope information of the construction area, thereby evaluating the complexity of the terrain and adjusting the construction strategy. It receives point cloud coordinate information to obtain the absolute coordinates of the construction area to achieve geographic positioning and global planning. After receiving the laser point cloud information, inclination information and point cloud coordinate information, the first control device 21 generates environmental map information based on the laser point cloud information, inclination information and point cloud coordinate information, and sends the environmental map information to the central control module 101. For example, the first control device 21 completes map modeling based on the laser point cloud information, inclination information and point cloud coordinate information to obtain environmental map information. The bulldozer equipment 102 can also include an on-board human-computer interaction module to facilitate the reception of temporarily generated information by the driver, such as a new construction plan.

[0054] For example, Figure 2c This is an exemplary structural diagram of the bulldozer equipment provided by this application, such as Figure 2cAs shown, the bulldozer equipment includes a laser radar 1, an inclination sensor 2, a point cloud coordinate detection unit 3, an onboard human-computer interaction module 4, and an onboard terminal 5. The laser radar 1 is used to detect laser point cloud information and send the laser point cloud information to the onboard terminal 5. The inclination sensor 2 is used to detect inclination information and send the inclination information to the onboard terminal 5. The point cloud coordinate detection unit 3 is used to detect point cloud coordinate information and send the point cloud coordinate information to the onboard terminal 5. The onboard human-computer interaction module 4 is used to receive temporary information generated by the driver and send it to the onboard terminal 5. The onboard terminal 5 is used to generate environmental map information based on the laser point cloud information, inclination information, and point cloud coordinate information, send the environmental map information to the central control module 101, and process the temporary information generated by the driver. The onboard terminal 5 also uses 5G (fifth generation mobile communication) communication equipment (Customer Premise Equipment, CPE) technology to convert the 5G signal sent by the base station into a broadband signal to increase the data transmission rate.

[0055] Optionally, each mining truck device 103 includes a second control device 31 and a position detection device 32 connected to each other. The position detection device 32 and the second control device 31 are both connected to the central control module 101.

[0056] For each mining truck device 103 , the position detection device 32 is used to detect the current position information of the mining truck device 103 , and send the current position information of the mining truck device 103 and the filler carrying information of the mining truck device 103 to the central control module 101 .

[0057] The central control module 101 is used to receive the current location information and filler transportation information of multiple mining trucks 103 .

[0058] For each mining truck 103 , the second control device 31 is used to determine a target mining truck after receiving the earthwork distribution plan.

[0059] The second control device 31 is further configured to control the travel components and loading and unloading components of the target mining truck to operate according to the work plan after determining the target mining truck, so as to unload the target filling material from the earth to be filled, and send a work completion message to the bulldozer equipment 102 after the unloading is completed.

[0060] Specifically, the second control device 31 is used to receive and process control commands and control the driving and loading and unloading operations of the mining truck. For example, the second control device 31 can be an onboard terminal on the mining truck. The position detection device 32 is used to detect the current location of the mining truck in real time and transmit this information to the central control module 101. The mining truck also includes driving and loading components to complete transportation and unloading tasks. For example, the position detection device 32 can use RTK technology to obtain the current location of the mining truck and information about the filling material within the truck compartment in real time. The position detection device 32 transmits the current location information and filling material load information of the mining truck to the central control module 101 for global scheduling and generation of an earthwork allocation plan. The second control device 31 receives the earthwork allocation plan from the central control module 101 and determines whether it is the target mining truck, that is, whether it needs to perform an unloading task. After determining the target mining truck, it controls the driving and loading components of the target mining truck to operate according to the work plan, unloading the target filling material from the unfilled earthwork. Upon completion of unloading, it transmits a completion message to the bulldozer 102. After the unloading is completed, the second control device 31 sends a work completion message to the bulldozer equipment 102, informing the bulldozer equipment 102 that the backfilling operation can begin.

[0061] Optionally, the work plan includes path information of the target mining truck and unloading information. The starting point of the path information is the current position of the target mining truck, and the end point of the path information is the earth to be filled.

[0062] The central control module 101 is used to generate path information and unloading information of a target mining truck device according to information of the earth to be filled, current position information of the plurality of mining truck devices 103 and filling material carrying information.

[0063] The second control device 31 is used to control the travel components of the target mining truck to travel to the earthwork to be filled according to the path information of the target mining truck after determining the target mining truck.

[0064] The second control device 31 is used to control the loading and unloading components of the target mining truck equipment to work according to the unloading information, so as to unload the target filling material from the earth to be filled, and send a work completion message to the bulldozer equipment 102 after the unloading is completed.

[0065] Specifically, path information refers to the optimal path for the target mining truck to travel from its current location to the area to be filled. Unloading information provides detailed operational instructions for the target mining truck to complete unloading of filler within the area to be filled. Unloading information may include unloading locations, such as the coordinates of specific unloading points within the area to be filled; unloading sequences, such as the order in which multiple mining trucks 103 are unloaded upon arrival; unloading methods, such as the lift angle of the vehicle body and the operating procedures for the hydraulic system; and unloading quantities, such as the quantity or volume of filler to be unloaded. The central control module 101 receives information about the earthwork to be filled, the current location of the mining truck 103, and a map of the construction environment. Using a path planning algorithm, it generates an optimal path for the mining truck. Based on the earthwork information and the load information of the mining truck 103, it generates unloading information. For example, based on the earthwork demand and the mining truck's 103 carrying capacity, it allocates unloading locations and loads for multiple mining trucks 103, determines the unloading sequence, and avoids confusion caused by multiple mining trucks 103 unloading at the same time and location. The central control module also provides specific unloading instructions, such as the lift angle of the carriage and the hydraulic system operation procedures. The central control module transmits the generated path and unloading information as a work plan to the second control device 31 of the target mining truck. After determining the target mining truck, the second control device 31 controls the target mining truck's driving components to travel to the earthwork to be filled according to the target mining truck's path information and controls the target mining truck's loading and unloading components to operate according to the unloading information, unloading the target filler into the earthwork to be filled. Upon completion of unloading, the central control module transmits a work completion message to the bulldozer 102.

[0066] The system of this application, in which the bulldozer equipment includes a first control device and a construction environment detection device, can significantly improve construction efficiency and quality while reducing labor costs and safety risks. The construction environment detection device can provide comprehensive, high-precision environmental information, and the first control device can efficiently generate environmental map information, providing support for the intelligent and automated backfill control system. The mining truck equipment includes a second control device and a position detection device, which improves the construction efficiency and quality of the mining truck equipment.

[0067] Figure 3 This is a flow chart of the backfill control method provided by the present application. The method can be executed by a device integrated with the backfill control module provided by the present application. The device can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device. For example, the electronic device can be a computer. The following embodiments will be described using the system integrated into an electronic device as an example. Figure 3 , the method may specifically include the following steps:

[0068] Step 301: Receive environmental map information sent by a bulldozer device, and obtain current location information and filler transportation information of multiple mining truck devices.

[0069] The environmental map information includes information about the earthwork to be filled.

[0070] Specifically, after receiving the environmental map information sent by the bulldozer equipment, the current location information and filler carrying information of multiple mining truck equipment can be obtained by self-detection of the electronic device executing this embodiment, or the current location information and filler carrying information of the mining truck equipment itself can be received.

[0071] Optionally, step 301 can be implemented through step 3011.

[0072] Step 3011: Receive current location information and filler carrying information of multiple mining trucks.

[0073] Specifically, the current location information of the mining truck and the filling material carrying information sent by the mining truck are received.

[0074] Step 302 : Generate an earthwork distribution plan based on the information of the earthwork to be filled, the current position information of the plurality of mining trucks, and the filling material transportation information, and send the earthwork distribution plan to each mining truck.

[0075] The earthwork distribution plan includes a working plan corresponding to the target mining truck equipment, so that the target mining truck equipment unloads the target filling material at the location of the earthwork to be filled, and the bulldozer equipment uses the target filling material to backfill the earthwork to be filled.

[0076] Specifically, an optimization calculation is performed based on information about the earthwork to be filled, the current locations of multiple mining trucks, and information about the fill material being transported. This generates an earthwork distribution plan, ensuring that the mining truck closest to the earthwork to be filled and carrying the fill material that has completed backfilling the earthwork can travel to the earthwork to be filled. The optimization calculation method can be a genetic algorithm, particle swarm optimization algorithm, or other algorithms. After the earthwork distribution plan is generated, the mining truck determined to travel to the earthwork to be filled is identified as the target mining truck, and the earthwork distribution plan is sent to each mining truck.

[0077] Optionally, the work plan includes path information and unloading information of the target mining truck equipment, and the information of the earth to be filled includes the height and position of the earth to be filled. Based on step 3011, step 302 can be implemented through steps 3021 to 3022.

[0078] Step 3021 : determining a target mining truck device according to the location of the earthwork to be filled and the current location information of the plurality of mining truck devices, and generating path information of the target mining truck device.

[0079] Specifically, the target mining truck device is determined based on the location of the earth to be filled and the current location information of multiple mining truck devices. For example, the mining truck device closest to the earth to be filled is used as the target mining truck device, and the path information of the target mining truck device is generated. The starting point of the path information is the location of the target mining truck device, and the end point is the location of the earth to be filled.

[0080] Step 3022 : generating unloading information of the target mining truck according to the height of the earthwork to be filled and the filler carrying information of the target mining truck, so that the filler unloaded by the target mining truck according to the unloading information can fill the earthwork to be filled.

[0081] Specifically, path information refers to the optimal path for the target mining truck to travel from its current location to the area to be filled. Unloading information provides specific operational instructions for the target mining truck to complete unloading of filler within the area to be filled. Unloading information for the target mining truck is generated based on the height of the area to be filled and the filler load information of the target mining truck, so that the filler unloaded by the target mining truck according to the unloading information can be used to fill the area to be filled.

[0082] The solution of the present application receives environmental map information sent by a bulldozer device, obtains current position information of multiple mining truck devices and filler transportation information; wherein the environmental map information includes information of the earth to be filled; generates an earthwork distribution plan based on the information of the earth to be filled, the current position information of multiple mining truck devices and the filler transportation information, and sends the earthwork distribution plan to each mining truck device; wherein the earthwork distribution plan includes a work plan corresponding to a target mining truck device, so that the target mining truck device unloads the target filler at the location of the earth to be filled, and the bulldozer device uses the target filler to backfill the earth to be filled. That is, the solution of the present application generates an earthwork distribution plan based on the environmental map information sent by the bulldozer equipment and the current position information and filler carrying information of multiple mining truck equipment, so that the target mining truck equipment unloads the target filler in the earthwork to be filled, and the bulldozer equipment uses the target filler to backfill the earthwork to be filled, so that the backfilling work can be completed without human intervention, avoiding the problem of low accuracy in manual measurement and layout, and improving the intelligence level of earthwork machinery operation, thereby avoiding the problems of uneven earthwork distribution, low operating efficiency of earthwork machinery and poor construction quality, and improving the backfilling efficiency of earthwork backfilling and the control accuracy of earthwork machinery.

[0083] The present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the backfill control method provided in any of the above embodiments is implemented.

[0084] The present application also provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the backfill control method provided in any of the above embodiments.

[0085] Reference below Figure 4 , which shows a structural diagram of an electronic device 400 suitable for implementing the present application. Figure 4 The electronic device shown is only an example and should not bring any limitation to the function and scope of use of the present application.

[0086] like Figure 4 As shown, electronic device 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage portion 408 into a random access memory (RAM) 403. Various programs and data required for the operation of electronic device 400 are also stored in RAM 403. CPU 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to bus 404.

[0087] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output section 407 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 408 including a hard disk; and a communication section 409 including a network interface card such as a LAN card or a modem. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. Removable media 411, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 410 as needed, so that computer programs read therefrom can be installed into the storage section 408 as needed.

[0088] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 409, and / or installed from a removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, the above-mentioned functions defined in the system of the present application are executed.

[0089] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0090] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0091] The modules and / or units described in this application may be implemented in software or hardware, and may also be provided in a processor.

[0092] As another aspect, the present application further provides a computer-readable medium, which may be included in the device described in the above embodiments; or may exist independently without being incorporated into the device. The computer-readable medium carries one or more programs, and when the one or more programs are executed by a device, the device performs the following operations:

[0093] Receive environmental map information sent by the bulldozer equipment, obtain the current position information and filler transportation information of multiple mining trucks; wherein the environmental map information includes information of the earth to be filled; generate an earthwork distribution plan based on the information of the earth to be filled, the current position information of multiple mining trucks and the filler transportation information, and send the earthwork distribution plan to each mining truck equipment; wherein the earthwork distribution plan includes a work plan corresponding to the target mining truck equipment, so that the target mining truck equipment unloads the target filler at the position of the earth to be filled, and the bulldozer equipment uses the target filler to backfill the earth to be filled.

[0094] According to the technical solution of the present application, environmental map information sent by a bulldozer device is received, and current position information and filler transportation information of multiple mining truck devices are obtained; wherein, the environmental map information includes information of the earth to be filled; an earthwork distribution plan is generated based on the information of the earth to be filled, the current position information of multiple mining truck devices, and the filler transportation information, and the earthwork distribution plan is sent to each mining truck device; wherein, the earthwork distribution plan includes a work plan corresponding to the target mining truck device, so that the target mining truck device unloads the target filler at the position of the earth to be filled, and the bulldozer device uses the target filler to backfill the earth to be filled. That is, the solution of the present application generates an earthwork distribution plan based on the environmental map information sent by the bulldozer equipment and the current position information and filler carrying information of multiple mining truck equipment, so that the target mining truck equipment unloads the target filler in the earthwork to be filled, and the bulldozer equipment uses the target filler to backfill the earthwork to be filled, so that the backfilling work can be completed without human intervention, avoiding the problem of low accuracy in manual measurement and layout, and improving the intelligence level of earthwork machinery operation, thereby avoiding the problems of uneven earthwork distribution, low operating efficiency of earthwork machinery and poor construction quality, and improving the backfilling efficiency of earthwork backfilling and the control accuracy of earthwork machinery.

[0095] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the backfill control method provided in any embodiment of the present application.

[0096] The computer program product, during implementation, may be written in one or more programming languages or a combination thereof, for performing the operations of the present application, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0097] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this application can be achieved. This is not limited herein.

[0098] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A backfill control system, characterized in that: The system includes a central control module, a bulldozer device, and a plurality of mining truck devices; wherein the central control module is connected to the bulldozer device and each of the mining truck devices, and the bulldozer device is connected to each of the mining truck devices; The bulldozer equipment is used to generate environmental map information and send the environmental map information to the central control module; wherein the environmental map information includes information of earth to be filled; The central control module is used to obtain the current location information and filler carrying information of the multiple mining trucks; The central control module is further configured to generate an earthwork allocation plan based on the information of the earthwork to be filled, the current location information of the multiple mining trucks, and the filler transportation information, and send the earthwork allocation plan to each of the mining trucks; wherein the earthwork allocation plan includes a work plan corresponding to a target mining truck; The target mining truck device is used to work according to the work plan to unload the target filling material from the earthwork to be filled, and send a work completion message to the bulldozer device after unloading is completed; wherein the target filling material is the filling material carried by the target mining truck device; The bulldozer equipment is further configured to backfill the earth to be filled using the target filling material after receiving the work completion information.

2. The backfill control system according to claim 1, characterized in that: The bulldozer equipment includes a first control device and a construction environment detection device that are connected to each other; wherein the first control device is connected to the central control module, and the first control device is connected to each of the mining truck devices; The construction environment detection device is used to detect construction environment information and send the construction environment information to the first control device; The first control device is configured to generate environment map information according to the construction environment information after receiving the construction environment information, and send the environment map information to the central control module; The first control device is further configured to control the bulldozer of the bulldozer equipment to backfill the earth to be filled using the target filling material after receiving the work completion information.

3. The backfill control system according to claim 2, characterized in that: The construction environment information includes laser point cloud information, inclination information and point cloud coordinate information, and the construction environment detection device includes a laser point cloud detection unit, an inclination detection unit and a point cloud coordinate detection unit; The laser point cloud detection unit is used to detect laser point cloud information and send the laser point cloud information to the first control device; The tilt angle detection unit is used to detect tilt angle information and send the tilt angle information to the first control device; The point cloud coordinate detection unit is used to detect point cloud coordinate information and send the point cloud coordinate information to the first control device; The first control device is used to generate the environmental map information according to the laser point cloud information, the inclination information and the point cloud coordinate information, and send the environmental map information to the central control module.

4. The backfill control system according to claim 1, characterized in that: Each of the mining truck devices includes a second control device and a position detection device connected to each other; the position detection device and the second control device are both connected to the central control module; For each of the mining truck devices, the position detection device is used to detect the current position information of the mining truck device, and send the current position information of the mining truck device and the filling material carrying information of the mining truck device to the central control module; The central control module is used to receive the current position information of the plurality of mining trucks and the filler transportation information; For each of the mining trucks, the second control device is configured to determine a target mining truck after receiving the earthwork distribution plan; The second control device is further configured to, after determining the target mining truck equipment, control the traveling components and the loading and unloading components of the target mining truck equipment to operate according to the working plan, so as to unload the target filling material from the earthwork to be filled, and send a work completion message to the bulldozer equipment after the unloading is completed.

5. The backfill control system according to claim 4, characterized in that: The work plan includes path information and unloading information of the target mining truck device; the starting point of the path information is the current position of the target mining truck device, and the end point of the path information is the earth to be filled; The central control module is used to generate path information and unloading information of a target mining truck according to the information of the earth to be filled, the current position information of the multiple mining trucks, and the filling material transportation information; The second control device is used to control the travel component of the target mining truck to travel to the earth to be filled according to the path information of the target mining truck after determining the target mining truck; The second control device is used to control the loading and unloading components of the target mining truck equipment to work according to the unloading information, so as to unload the target filling material from the earth to be filled, and send a work completion message to the bulldozer equipment after the unloading is completed.

6. A backfill control method, characterized in that: The method comprises: Receive environmental map information sent by the bulldozer equipment, and obtain current location information and filling material transportation information of multiple mining trucks; wherein the environmental map information includes information about the earth to be filled; An earthwork allocation plan is generated based on the information of the earthwork to be filled, the current position information of the multiple mining trucks, and the filler transportation information, and the earthwork allocation plan is sent to each of the mining trucks; wherein the earthwork allocation plan includes a work plan corresponding to a target mining truck, so that the target mining truck unloads the target filler at the position of the earthwork to be filled, and the bulldozer equipment uses the target filler to backfill the earthwork to be filled.

7. The method according to claim 6, characterized in that The obtaining of the current location information of the plurality of mining trucks and the filler carrying information includes: Receiving the current location information of the plurality of mining trucks and the filler carrying information; The work plan includes path information and unloading information of a target mining truck, and the information of the earthwork to be filled includes the height and position of the earthwork to be filled. Generating the earthwork allocation plan based on the information of the earthwork to be filled, the current position information of the multiple mining trucks, and the filling material transportation information includes: Determine a target mining truck device according to the position of the earthwork to be filled and the current position information of the multiple mining truck devices, and generate path information of the target mining truck device; The unloading information of the target mining truck is generated according to the height of the earth to be filled and the filler carrying information of the target mining truck, so that the filler unloaded by the target mining truck according to the unloading information can fill the earth to be filled.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the backfill control method according to any one of claims 6 to 7 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the backfill control method according to any one of claims 6 to 7 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the backfill control method according to any one of claims 6 to 7 is implemented.

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