Soil bucket full load detection method and system based on multi-point laser sensor

Abstract

The invention relates to the technical field of soil bucket full-load detection, and discloses a soil bucket full-load detection method and system based on multi-point laser sensors, and the method comprises the steps: obtaining an average height value of a preset loading area through a plurality of laser sensors when the preset loading area of a soil bucket car is aligned with a slag hole area of a shield tunneling machine; when the average height value is smaller than a threshold value, the shield tunneling machine is controlled to conduct deslagging operation on the preset loading area, and when the average height value of the preset loading area reaches the threshold value, the shield tunneling machine is controlled to stop conducting deslagging operation on the preset loading area; and the battery car is controlled to align the next loading area of the soil hopper car to the slag outlet area of the shield tunneling machine until the average height value of each loading area of the soil hopper car reaches the threshold value, and it is judged that the soil hopper car is fully loaded. According to the method, the full load condition of the soil bucket can be accurately detected, loading errors caused by insufficient artificial experience are avoided, the working intensity of shield tunnel field workers is reduced, and the automation level of the shield tunneling process is improved.

Description

Technical Field

[0001] This invention relates to the field of full-load detection technology for earth buckets, and in particular to a method and system for full-load detection of earth buckets based on a multi-point laser sensor. Background Technology

[0002] During tunnel boring machine (TBM) excavation, dump trucks are used to load the excavated soil and slurry generated by the TBM. These dump trucks are then hauled out by battery-powered vehicles for unloading. Because the total amount of excavated soil and slurry generated during TBM operation is variable, personnel must monitor the loading and unloading of the dump trucks and notify the TBM operator to stop unloading when the trucks are nearly full. Due to the limited fluidity of the excavated soil and slurry, a single dump truck typically needs to be loaded in three stages. After each stage, the battery-powered vehicle must be notified to move the dump truck to the empty section. This requires experienced personnel. Furthermore, the working environment at the TBM's excavation site is harsh, with high noise and temperature, making the work quite challenging.

[0003] Therefore, there is an urgent need to provide a technical solution to address the above problems. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a method and system for detecting the full load of a soil bucket based on a multi-point laser sensor.

[0005] In a first aspect, the present invention provides a method for detecting the full load of a soil bucket based on a multi-point laser sensor, the technical solution of which is as follows: When the preset loading area of ​​the dump truck is aligned with the muck discharge area of ​​the tunnel boring machine, the average height of the dump bucket in the preset loading area is obtained by using multiple laser sensors deployed in the muck discharge area; wherein, the preset loading area is any loading area of ​​the dump truck. When the average height of the soil bucket is less than the target height, the tunnel boring machine is controlled to discharge slag into the preset loading area until the average height of the soil bucket in the preset loading area reaches the target height. Then, the tunnel boring machine is controlled to stop discharging slag into the preset loading area. The battery-powered vehicle is controlled to align the next loading area of ​​the dump truck with the muck outlet area of ​​the tunnel boring machine until the average height of the dump truck in each loading area reaches the target height value, at which point the dump truck is determined to be fully loaded.

[0006] The beneficial effects of the soil bucket full-load detection method based on a multi-point laser sensor of the present invention are as follows: The method of this invention uses multi-point laser sensors to automatically and accurately detect the full load status of the soil bucket, avoiding loading errors caused by insufficient human experience, reducing the workload of on-site workers in shield tunnels, and improving the automation level of the shield tunneling process.

[0007] Based on the above scheme, the soil bucket full load detection method based on multi-point laser sensor of the present invention can be further improved as follows.

[0008] In one alternative approach, the step of obtaining the average height value of the hopper in the preset loading area using multiple laser sensors deployed in the slag outlet area includes: Acquire point cloud data collected by each laser sensor for the preset loading area; Calculate the bucket height value corresponding to each point cloud data, and determine the average bucket height value of the preset loading area based on all bucket height values.

[0009] In one alternative approach, the step of controlling the tunnel boring machine to perform muck removal operation towards the preset loading area includes: A first instruction for initiating muck removal is sent to the PLC of the tunnel boring machine, so that the PLC controls the tunnel boring machine to perform muck removal operation to the preset loading area according to the first instruction.

[0010] In one alternative approach, the step of controlling the tunnel boring machine to stop discharging slag into the preset loading area includes: A second instruction to stop muck discharge is sent to the PLC of the tunnel boring machine, so that the PLC controls the tunnel boring machine to stop the muck discharge operation to the preset loading area according to the second instruction.

[0011] In one alternative approach, it also includes: Using UWB technology, it is determined whether the preset loading area is aligned with the muck discharge area of ​​the tunnel boring machine.

[0012] Secondly, the present invention provides a soil bucket full-load detection system based on a multi-point laser sensor, the technical solution of which is as follows: It includes: an acquisition module, a control module, and a detection module; The acquisition module is used to: when the preset loading area of ​​the dump truck is aligned with the muck discharge area of ​​the tunnel boring machine, use multiple laser sensors deployed in the muck discharge area to acquire the average height value of the dump in the preset loading area; wherein, the preset loading area is any loading area of ​​the dump truck. The control module is used to: when the average height of the soil bucket is less than the target height, control the tunnel boring machine to perform a muck discharge operation to the preset loading area, until the average height of the soil bucket in the preset loading area reaches the target height, and then control the tunnel boring machine to stop the muck discharge operation to the preset loading area. The detection module is used to: control the battery vehicle to align the next loading area of ​​the dump truck with the muck outlet area of ​​the tunnel boring machine, until the average height of the dump bucket in each loading area of ​​the dump truck reaches the target height value, and then determine that the dump truck has reached full load.

[0013] The beneficial effects of the soil bucket full-load detection system based on a multi-point laser sensor of the present invention are as follows: The system of this invention automatically and accurately detects the full load status of the soil bucket through multi-point laser sensors, avoiding loading errors caused by insufficient human experience, reducing the workload of on-site personnel in shield tunnels, and improving the automation level of the shield tunneling process.

[0014] Based on the above scheme, the soil bucket full load detection system based on multi-point laser sensor of the present invention can be further improved as follows.

[0015] In one alternative approach, the acquisition module is specifically used for: Acquire point cloud data collected by each laser sensor for the preset loading area; Calculate the bucket height value corresponding to each point cloud data, and determine the average bucket height value of the preset loading area based on all bucket height values.

[0016] In one alternative embodiment, the control module is specifically used for: A first instruction for initiating muck removal is sent to the PLC of the tunnel boring machine, so that the PLC controls the tunnel boring machine to perform muck removal operation to the preset loading area according to the first instruction.

[0017] Thirdly, the technical solution of an electronic device according to the present invention is as follows: It includes a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps of the full-load detection method for a soil bucket based on a multi-point laser sensor as described in this invention.

[0018] Fourthly, the technical solution of a computer-readable storage medium provided by the present invention is as follows: The computer-readable storage medium stores instructions that, when read, cause the computer-readable storage medium to perform the steps of the full-load detection method for a soil bucket based on a multi-point laser sensor according to the present invention.

[0019] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0020] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a flowchart illustrating an embodiment of the soil bucket full-load detection method based on a multi-point laser sensor according to the present invention. Figure 2 This is a schematic diagram of an embodiment of a soil bucket full-load detection system based on a multi-point laser sensor according to the present invention; Figure 3 This is a schematic diagram of an embodiment of an electronic device according to the present invention. Detailed Implementation

[0021] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0022] Figure 1 This diagram illustrates a flowchart of an embodiment of a method for detecting the full load of a dirt bucket based on a multi-point laser sensor, provided by the present invention. This method can be executed by electronic devices such as terminal devices or servers. The terminal device can be any fixed or mobile terminal, such as user equipment (UE), mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA), handheld device, computing device, vehicle-mounted device, or wearable device. The server can be a single server or a server cluster consisting of multiple servers. Any electronic device can implement the method for detecting the full load of a dirt bucket based on a multi-point laser sensor by having its processor call computer-readable instructions stored in its memory. Figure 1 As shown, it includes the following steps: S1. When the preset loading area of ​​the dump truck is aligned with the muck discharge area of ​​the tunnel boring machine, the average height of the dump truck in the preset loading area is obtained by using multiple laser sensors deployed in the muck discharge area.

[0023] The preset loading area can be any loading area of ​​the dump truck. In this embodiment, the dump truck is divided into three loading areas by default, but this can be adjusted according to the actual situation. There is no restriction here.

[0024] The dump truck refers to the transport equipment used to load the excavated soil and slurry generated during the tunnel boring machine's (TBM) excavation process. It is towed and unloaded by a battery-powered vehicle, and its loading area needs to be aligned with the TBM's muck discharge port in stages to complete segmented loading. The TBM is the engineering equipment that generates excavated soil and slurry during tunnel excavation. It is equipped with a muck discharge port area for discharging the excavated products and can receive commands from a PLC to control the start and stop of the muck discharge operation. The muck discharge port area is a specific part of the TBM used to discharge excavated soil and slurry; this area is equipped with multiple laser sensors to monitor the loading height of the dump truck below.

[0025] Among them, the laser sensor refers to the detection device deployed in the muck discharge area of ​​the tunnel boring machine. It generates point cloud data by emitting laser beams and receiving reflected signals, which is used to measure the material height in the loading area of ​​the dump truck in real time. The average height value of the dump truck is a characterization of the loaded material height obtained by taking the arithmetic mean of the point cloud data collected by multiple laser sensors, calculating the measured height of the dump truck at the corresponding position of each sensor.

[0026] It should be noted that the laser sensor scanning area is linear, with six laser sensors deployed by default to evenly cover the hopper area (the loading area aligned with the slag outlet uses two laser sensors for data acquisition and averaging, while the remaining four laser sensors detect other loading areas to assist in the judgment process), achieving phased scanning of the hopper. The laser lines of the laser sensors are at a certain tilt angle to avoid perception deviations caused by irregular shapes of a single section of slag, facilitating detailed perception of the slag loading status. Using multiple laser sensors also avoids detection failure due to the malfunction of a single laser sensor, improving availability.

[0027] S2. When the average height of the soil bucket is less than the target height, control the tunnel boring machine to discharge slag into the preset loading area until the average height of the soil bucket in the preset loading area reaches the target height, then control the tunnel boring machine to stop discharging slag into the preset loading area.

[0028] The target height value refers to the threshold value of the material height in the pre-set loading area of ​​the earth bucket. When the average height value of the earth bucket reaches the threshold value, it is determined that the pre-set loading area has been completed and the tunnel boring machine is triggered to stop discharging slag.

[0029] S3. Control the battery vehicle to align the next loading area of ​​the dump truck with the muck outlet area of ​​the tunnel boring machine until the average height of the dump bucket in each loading area of ​​the dump truck reaches the target height value, then determine that the dump truck has reached full load.

[0030] Specifically, after completing the loading of the current preset loading area, the battery-powered vehicle moves the dump truck so that its next loading area is aligned with the muck outlet area of ​​the tunnel boring machine. Then, the operations of steps S1 and S2 are executed. This process is repeated until the average height of the dump truck in all loading areas reaches the target height value, and finally it is determined that the dump truck has reached the full load state.

[0031] The technical solution of this embodiment uses multi-point laser sensors to automatically and accurately detect the full load of the soil bucket, avoiding loading errors caused by insufficient human experience, reducing the workload of on-site personnel in shield tunnels, and improving the automation level of the shield tunneling process.

[0032] In one alternative approach, the step of obtaining the average height value of the hopper in the preset loading area using multiple laser sensors deployed in the slag outlet area includes: Acquire point cloud data collected by each laser sensor for the preset loading area.

[0033] Point cloud data refers to the discrete three-dimensional coordinate dataset generated when each laser sensor scans the surface of the loading area of ​​the dump truck. This data can be used to analyze the spatial height information of the material surface inside the dump truck.

[0034] Specifically, each laser sensor emits a laser beam downwards to scan the material surface of the preset loading area of ​​the dump truck, and generates point cloud data containing three-dimensional coordinates by receiving reflected signals.

[0035] Calculate the bucket height value corresponding to each point cloud data, and determine the average bucket height value of the preset loading area based on all bucket height values.

[0036] Specifically: ① The arithmetic mean of the Z-axis coordinate components of the point cloud data collected by a single laser sensor is taken. This value represents the vertical distance between the material surface below the laser sensor and the laser sensor. The calculation formula is as follows: Among them, h k z represents the height of the soil bucket corresponding to the k-th laser sensor. ki This represents the Z-axis coordinate value of the i-th point cloud data acquired by the k-th laser sensor, where n is the total amount of point cloud data from that sensor. ② The arithmetic mean of the bucket height values ​​calculated from all laser sensors is then taken again, using the following formula: Where H avg This represents the average height of the bucket in the preset loading area, where m is the total number of laser sensors.

[0037] Among the above-mentioned optional methods, the multi-sensor data fusion method reduces the impact of single sensor errors, improves the reliability of judging the actual loading status of the hopper, further optimizes the full load detection accuracy of the hopper, ensures that the slag discharge operation is more in line with actual needs, and enhances the stability and accuracy of the entire system.

[0038] In one alternative approach, the step of controlling the tunnel boring machine to perform muck removal operation towards the preset loading area includes: A first instruction for initiating muck removal is sent to the PLC of the tunnel boring machine, so that the PLC controls the tunnel boring machine to perform muck removal operation to the preset loading area according to the first instruction.

[0039] Specifically, when the average height of the soil bucket is determined to be lower than the target height, a first instruction to start muck discharge is transmitted to the PLC of the tunnel boring machine via the industrial communication interface. This first instruction contains the instruction code for performing the muck discharge operation and the positioning parameters of the preset loading area. After receiving the first instruction, the PLC parses the instruction content and drives the muck conveying system of the tunnel boring machine to start. It controls the screw conveyor or belt conveyor to discharge the muck and slurry from the soil chamber of the tunnel boring machine through the muck discharge area to the preset loading area of ​​the soil bucket. The muck discharge operation is terminated when a second instruction to stop muck discharge is received or the average height of the soil bucket reaches the target height.

[0040] Among the aforementioned optional methods, sending a start muck removal command to the tunnel boring machine's PLC enables remote and precise control of the muck removal operation, replacing manual on-site operation and reducing the working risks for personnel in harsh environments. Through PLC-automated control, the muck removal operation is more stable and efficient, reducing operational errors caused by human factors, improving the continuity and automation of the tunnel boring process, and ensuring the smooth operation of the muck removal stage.

[0041] In one alternative approach, the step of controlling the tunnel boring machine to stop discharging slag into the preset loading area includes: A second instruction to stop muck discharge is sent to the PLC of the tunnel boring machine, so that the PLC controls the tunnel boring machine to stop the muck discharge operation to the preset loading area according to the second instruction.

[0042] Specifically, when the average height of the hopper in the preset loading area reaches the target height, a second instruction to stop muck discharge is transmitted to the PLC of the tunnel boring machine via the industrial communication interface. This second instruction contains the instruction code to terminate the muck discharge operation and the positioning parameters of the preset loading area. After receiving the second instruction, the PLC parses the instruction content and immediately interrupts the drive signal to the muck conveying system, controlling the screw conveyor or belt conveyor to stop discharging the muck and slurry from the tunnel boring machine's soil chamber through the muck discharge area to the preset loading area of ​​the hopper truck, thereby completing the muck discharge operation in the preset loading area.

[0043] In the aforementioned optional methods, a stop muck discharge command is sent to the tunnel boring machine's PLC to precisely control the timing of muck discharge cessation, preventing overloading or underloading of the soil bucket. Combined with the start-up muck discharge control, this achieves fully automated and precise management of the muck discharge process, further reducing the need for manual intervention, improving work efficiency and accuracy, enhancing adaptability and flexibility to the muck discharge process, and ensuring efficient coordination between tunnel boring and soil bucket loading.

[0044] In one alternative approach, it also includes: Using UWB technology, it is determined whether the preset loading area is aligned with the muck discharge area of ​​the tunnel boring machine. Specifically: ① A UWB beacon fixed in the muck discharge area of ​​the tunnel boring machine interacts with a UWB identification device installed on a battery-powered vehicle. Time-of-flight (TOF) or angle-of-arrival (AOA) algorithms are used to measure the three-dimensional spatial distance d, azimuth angle θ, and elevation angle φ between the UWB beacon and the UWB identification device in real time. A spatial rectangular coordinate system is established with the center point of the muck discharge area as the origin. The coordinate transformation formula is then used to... Calculate the real-time position vector P of the UWB identification device r , where d is the measured distance, θ is the horizontal azimuth angle, and φ is the pitch angle.

[0045] ② Combining the rigid connection between the dump truck and the electric vehicle, and the fixed position coordinates of the preset loading area on the dump truck, based on the fixed offset vector P from the electric vehicle to the center of the preset loading area of ​​the dump truck... o The formula P, which is used to determine the coordinates of the center point of the loading area, is used to determine the coordinates of the center point of the loading area. t =P r +P o Calculate the real-time coordinates P of the center point of the preset loading area. t .

[0046] ③ Calculate the real-time offset distance ΔL = ||P| between the center point of the pre-loaded area of ​​the dump truck and the center point of the muck discharge area of ​​the tunnel boring machine. t When ΔL≤δ, a position alignment confirmation signal is generated and alignment is determined to be complete; otherwise, a displacement correction vector ΔP=-P is sent to the electric vehicle. t The position adjustment command, where δ is the preset alignment error threshold, P o The fixed offset vector δ is pre-calibrated using the mechanical structural parameters of the dump truck, and is set to a millimeter-level precision value based on the size of the dump truck.

[0047] Among the aforementioned optional methods, UWB technology is used to accurately determine the alignment between the preset loading area and the muck discharge area, effectively preventing uneven loading or low efficiency caused by positional deviations. The high-precision positioning capability of UWB technology ensures that each loading area of ​​the dump truck is accurately aligned with the muck discharge port of the tunnel boring machine, improving the accuracy and stability of the entire loading process, reducing potential risks caused by positional errors, and further enhancing the completeness of the dump truck's full-load detection function.

[0048] It should be noted that in this embodiment, the interconnection between the battery vehicle and the tunnel boring machine is achieved by using a 485 bus and a mesh self-organizing network, so as to realize the automatic operation of the entire process of starting muck discharge, stopping muck discharge, moving the soil bucket, and continuing muck discharge.

[0049] Figure 2 This diagram illustrates a structural schematic of an embodiment of a soil bucket full-load detection system 200 based on a multi-point laser sensor provided by the present invention. Figure 2 As shown, the system 200 includes: an acquisition module 210, a control module 220, and a detection module 230; The acquisition module 210 is used to: when the preset loading area of ​​the dump truck is aligned with the muck discharge area of ​​the tunnel boring machine, use multiple laser sensors deployed in the muck discharge area to acquire the average height value of the dump in the preset loading area; wherein, the preset loading area is any loading area of ​​the dump truck. The control module 220 is used to: when the average height of the soil bucket is less than the target height, control the tunnel boring machine to perform a muck discharge operation to the preset loading area, until the average height of the soil bucket in the preset loading area reaches the target height, and then control the tunnel boring machine to stop the muck discharge operation to the preset loading area. The detection module 230 is used to: control the battery vehicle to align the next loading area of ​​the dump truck with the muck outlet area of ​​the tunnel boring machine, until the average height of the dump bucket in each loading area of ​​the dump truck reaches the target height value, and then determine that the dump truck has reached full load.

[0050] In an alternative embodiment, the acquisition module 210 is specifically used for: Acquire point cloud data collected by each laser sensor for the preset loading area; Calculate the bucket height value corresponding to each point cloud data, and determine the average bucket height value of the preset loading area based on all bucket height values.

[0051] In an alternative embodiment, the control module 220 is specifically used for: A first instruction for initiating muck removal is sent to the PLC of the tunnel boring machine, so that the PLC controls the tunnel boring machine to perform muck removal operation to the preset loading area according to the first instruction.

[0052] In an alternative embodiment, the control module 220 is specifically used for: A second instruction to stop muck discharge is sent to the PLC of the tunnel boring machine, so that the PLC controls the tunnel boring machine to stop the muck discharge operation to the preset loading area according to the second instruction.

[0053] In an optional embodiment, the method further includes: a judgment module; the judgment module is used to: Using UWB technology, it is determined whether the preset loading area is aligned with the muck discharge area of ​​the tunnel boring machine.

[0054] It should be noted that the beneficial effects of the soil bucket full-load detection system 200 based on a multi-point laser sensor provided in the above embodiments are the same as those of the soil bucket full-load detection method based on a multi-point laser sensor, and will not be repeated here. Furthermore, the system provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to the actual situation to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiments, and will not be repeated here.

[0055] The soil bucket full load detection system 200 based on a multi-point laser sensor of the present invention can be a computer program (including program code) running on a computer device. For example, the soil bucket full load detection system based on a multi-point laser sensor of the present invention is an application software that can be used to execute the corresponding steps in the soil bucket full load detection method based on a multi-point laser sensor of the present invention.

[0056] In some embodiments, the full-load detection system 200 of the earth bucket based on a multi-point laser sensor of the present invention can be implemented in a combination of hardware and software. As an example, the full-load detection system of the earth bucket based on a multi-point laser sensor of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the full-load detection method of the earth bucket based on a multi-point laser sensor of the present invention. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0057] The modules described in the embodiments of this invention can be implemented in software or hardware. The names of the modules are not, in some cases, limiting the scope of the module itself.

[0058] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the above-mentioned methods for detecting the full load of a soil bucket based on a multi-point laser sensor. That is, an electronic device according to an embodiment of the present invention may include, but is not limited to: a processor and a memory; the memory is used to store the computer program; the processor is used to execute the method for detecting the full load of a soil bucket based on a multi-point laser sensor shown in any embodiment of the present invention by calling the computer program.

[0059] In one alternative embodiment, an electronic device is provided, such as Figure 3 As shown, Figure 3 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0060] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0061] Bus 4002 may include a path for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The bus 4002 is represented by only one thick line, but this does not mean that there is only one bus or one type of bus.

[0062] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0063] The memory 4003 stores the application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0064] Among them, electronic devices can also be terminal devices. A terminal device can be any terminal device that can install applications and access web pages through applications, including at least one of smartphones, tablets, laptops, desktop computers, smart speakers, smartwatches, smart TVs, and smart in-vehicle devices.

[0065] It should be noted that, Figure 3 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0066] An embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the above-mentioned methods for detecting the full load of a soil bucket based on a multi-point laser sensor.

[0067] Alternatively, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, and an optical data storage device, etc.

[0068] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the aforementioned method for detecting the full load of a dirt hopper based on a multi-point laser sensor.

[0069] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone 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 remote computers, the remote computer can 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 can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0070] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0071] The computer-readable storage medium provided in this invention can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0072] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the method shown in the above embodiments.

[0073] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

[0074] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and represent a limitation on a specific order or sequence. Where appropriate, the order of use for similar objects can be interchanged so that the embodiments of this application described herein can be implemented in an order other than that shown or described.

[0075] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this invention can be specifically implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, this invention can also be implemented as a computer program product contained in one or more computer-readable media, which includes computer-readable program code.

[0076] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for detecting the full load of a soil bucket based on a multi-point laser sensor, characterized in that, include: When the preset loading area of ​​the dump truck is aligned with the muck discharge area of ​​the tunnel boring machine, the average height of the dump bucket in the preset loading area is obtained by using multiple laser sensors deployed in the muck discharge area; wherein, the preset loading area is any loading area of ​​the dump truck. When the average height of the soil bucket is less than the target height, the tunnel boring machine is controlled to discharge slag into the preset loading area until the average height of the soil bucket in the preset loading area reaches the target height. Then, the tunnel boring machine is controlled to stop discharging slag into the preset loading area. The battery-powered vehicle is controlled to align the next loading area of ​​the dump truck with the muck outlet area of ​​the tunnel boring machine until the average height of the dump truck in each loading area reaches the target height value, at which point the dump truck is determined to be fully loaded.

2. The method for detecting full load of a soil bucket based on a multi-point laser sensor according to claim 1, characterized in that, The step of obtaining the average height of the hopper in the preset loading area using multiple laser sensors deployed in the slag outlet area includes: Acquire point cloud data collected by each laser sensor for the preset loading area; Calculate the bucket height value corresponding to each point cloud data, and determine the average bucket height value of the preset loading area based on all bucket height values.

3. The method for detecting full load of a soil bucket based on a multi-point laser sensor according to claim 1, characterized in that, The steps of controlling the tunnel boring machine to perform muck removal operation to the preset loading area include: A first instruction for initiating muck removal is sent to the PLC of the tunnel boring machine, so that the PLC controls the tunnel boring machine to perform muck removal operation to the preset loading area according to the first instruction.

4. The method for detecting full load of a soil bucket based on a multi-point laser sensor according to claim 3, characterized in that, The steps for controlling the tunnel boring machine to stop discharging slag into the preset loading area include: A second instruction to stop muck discharge is sent to the PLC of the tunnel boring machine, so that the PLC controls the tunnel boring machine to stop the muck discharge operation to the preset loading area according to the second instruction.

5. The method for detecting full load of a soil bucket based on a multi-point laser sensor according to any one of claims 1 to 4, characterized in that, Also includes: Using UWB technology, it is determined whether the preset loading area is aligned with the muck discharge area of ​​the tunnel boring machine.

6. A soil bucket full-load detection system based on a multi-point laser sensor, characterized in that, include: Acquisition module, control module, and detection module; The acquisition module is used to: when the preset loading area of ​​the dump truck is aligned with the muck discharge area of ​​the tunnel boring machine, use multiple laser sensors deployed in the muck discharge area to acquire the average height value of the dump in the preset loading area; wherein, the preset loading area is any loading area of ​​the dump truck. The control module is used to: when the average height of the soil bucket is less than the target height, control the tunnel boring machine to perform a muck discharge operation to the preset loading area, until the average height of the soil bucket in the preset loading area reaches the target height, and then control the tunnel boring machine to stop the muck discharge operation to the preset loading area. The detection module is used to: control the battery vehicle to align the next loading area of ​​the dump truck with the muck outlet area of ​​the tunnel boring machine, until the average height of the dump bucket in each loading area of ​​the dump truck reaches the target height value, and then determine that the dump truck has reached full load.

7. The full-load detection system for a soil bucket based on a multi-point laser sensor according to claim 6, characterized in that, The acquisition module is specifically used for: Acquire point cloud data collected by each laser sensor for the preset loading area; Calculate the bucket height value corresponding to each point cloud data, and determine the average bucket height value of the preset loading area based on all bucket height values.

8. The full-load detection system for a soil bucket based on a multi-point laser sensor according to claim 6, characterized in that, The control module is specifically used for: A first instruction for initiating muck removal is sent to the PLC of the tunnel boring machine, so that the PLC controls the tunnel boring machine to perform muck removal operation to the preset loading area according to the first instruction.

9. An electronic device, characterized in that, The electronic device includes a processor coupled to a memory, the memory storing at least one computer program, which is loaded and executed by the processor to enable the electronic device to implement the method for detecting the full load of a dirt bucket based on a multi-point laser sensor as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer-readable storage medium to implement the method for detecting the full load of a soil bucket based on a multi-point laser sensor as described in any one of claims 1 to 5.

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