Collision detection method for a shovel of a smart shovel robot with a traveling mechanism and a mining truck

Abstract

This invention provides a collision detection method for the bucket and walking mechanism of an intelligent shovel robot, as well as for collision detection technology. The invention simplifies the mining truck and walking mechanism into a cuboid model and the bucket into a cylindrical model, geometrically abstracting different structural components. Based on the separating axis theorem, it calculates the projections of different geometric models onto multiple candidate separating axes, determining whether there exists a separating axis that prevents the projections of the models from overlapping. This allows for collision detection between the bucket and the mining truck and walking mechanism. This invention improves computational efficiency while maintaining detection accuracy, effectively assessing the safety of the bucket trajectory. If a collision occurs, the trajectory is replanned, ensuring the safe and reliable operation of the intelligent shovel robot in subsequent operations.

Description

Technical Field

[0001] This invention belongs to the field of collision detection technology, and relates to a collision detection method for the bucket and walking mechanism of an intelligent shovel robot and a mining truck, specifically a collision detection method for the bucket and walking mechanism of an intelligent shovel robot and a mining truck based on the separation axis theorem. Background Technology

[0002] As a core piece of equipment in open-pit mining operations, intelligent loading robots are a key component of smart mine construction. One of their core objectives is to achieve safe and reliable bucket trajectory planning for "excavation-unloading-resetting". In the "unloading-resetting" bucket trajectory planning, it is necessary to avoid collisions between the intelligent loading robot's bucket and the traveling mechanism and mining trucks. Therefore, it is of great significance to propose a safe and reliable collision detection method for the intelligent loading robot's bucket and the traveling mechanism and mining trucks.

[0003] Chinese invention patent 202210276364.7 discloses a conservative collision detection method for industrial robot path planning. It constructs a linear hierarchical bounding volume using a Morton code-based binary search algorithm, and parallelly builds a symbolic distance field (SDF) on a GPU, storing it using a sparse grid. It also proposes an envelope sphere generation algorithm based on particle swarm optimization, replacing the robot joint model with a small number of envelope spheres, and combining the SDF and envelope spheres to achieve conservative collision detection. However, this method is mainly geared towards relatively static environments. The SDFs of surrounding equipment typically need to be pre-built and reused. In the "unloading-resetting" operation scenario of open-pit mines, the parking positions and postures of intelligent loading robots and mining trucks continuously change. If the environment modeling method based on SDF is still used, the computational and data maintenance overhead caused by frequent SDF updates will inevitably be faced, making it difficult to meet the real-time requirements of trajectory planning. Furthermore, the envelope sphere has limited approximation accuracy for irregular geometries such as buckets and tracks, which may lead to insufficient judgment accuracy in small-gap conditions, thus affecting the feasibility assessment of trajectory planning.

[0004] Chinese invention patent 202511369836.3 discloses a collision detection method and a computer-readable storage medium. It proposes dividing components into static and dynamic components, constructing static and dynamic SDF data respectively, and implementing collision detection through local incremental updates of the dynamic influence zone and a multi-scale strategy to reduce global recalculation during dynamic adjustments and improve interaction efficiency. However, its overall process is quite complex, involving multiple stages such as static data segmentation, dynamic influence zone management, and multi-layer granularity detection. Furthermore, the final fine-grained confirmation stage still requires calling the original geometry for distance calculation, making it difficult to support the efficiency requirements of high-frequency collision queries for massive path points during trajectory planning. Therefore, it is difficult to embed into the real-time trajectory planning of intelligent loading robots. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a collision detection method for the bucket and walking mechanism of an intelligent shovel loading robot and a mining truck. This invention simplifies the mining truck and walking mechanism into a cuboid model and the bucket into a cylindrical model, performs geometric abstraction on different structural components, and calculates the projections of different types of geometric models onto multiple candidate separation axes based on the separation axis theorem. It determines whether there exists a separation axis that prevents the projections of the models from overlapping, thereby realizing the detection of collisions between the bucket and the mining truck and walking mechanism, which can improve computational efficiency while ensuring detection accuracy.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: The collision detection method for the bucket and traveling mechanism of an intelligent shovel loading robot and a mining truck is based on the separation axis theorem. The collision detection method includes the following steps: Step 1: Define the global coordinate system. Take the point on the ground projected from the rotation center of the intelligent shovel robot as the origin of the global coordinate system. Define the z-axis as parallel to the rotation axis and upward in the positive direction, and define the y-axis as parallel to the track and in the forward direction. Obtain the x-axis according to the right-hand rectangular coordinate system rules to obtain the global coordinate system.

[0007] Step 2, define the pose and dimensions of the cuboid in the global coordinate system as follows: (1) in, This represents the pose and dimensions of the cuboid in the global coordinate system. Indicates the center coordinates of the cuboid. This represents the unit vector along the length of the cuboid. This represents a unit vector along the width of the cuboid. This represents the unit vector along the height of the cuboid. Indicates the length of the cuboid. Indicates the width of the cuboid. It represents the height of a cuboid.

[0008] Step 3, define the pose and dimension expressions of the cylinder in the global coordinate system as follows: (2) in, This represents the pose and dimensions of the cylinder in the global coordinate system. Represents the coordinates of the cylinder's center. The unit vector representing the direction of the cylinder's axis. This represents the radius of the cylinder. This indicates the height of the cylinder.

[0009] Step 4: A collision detection method for cuboids and cylinders based on the separating axis theorem in a global coordinate system is proposed. The specific steps are as follows: Step 4.1: Based on the pose and dimensions of the cuboid in the global coordinate system obtained in Step 2, and the pose and dimensions of the cylinder in the global coordinate system obtained in Step 3, construct the initial set of separation axes to be tested. The specific construction method is as follows: extract the unit vectors of the length, width, and height directions of the cuboid obtained in Step 2. Extract the unit vector along the axis of the cylinder from step 3. And construct the additional set by successively cross-producting the unit vectors along the axis of the cylinder with the unit vectors along the length, width, and height of the cuboid. The unit vectors along the length, width, and height of the cuboid, the unit vector along the axis of the cylinder, and the additional set are merged to obtain the initial set of the separating axes to be tested. This is denoted as: (3) in, Represents the vector product.

[0010] Initial set of separation axes The vectors within are denoted as follows: , , , , , , , ~ Recorded as subscript =1, 2, 3, 4, 5, 6, 7, representing the th, 2, 3, 4, 5, 6, 7. A vector, This represents the first vector. This represents the second vector. This represents the third vector. This represents the 4th vector. This represents the 5th vector. This represents the 6th vector. Represents the 7th vector; culling The zero vector in the vector is then normalized: (4) in, Represents the magnitude of the vector; Indicates the separation axis; subscript express non-zero vectors in Value, index express The first in One non-zero vector; express The Middle A vector.

[0011] Step 4.2: Calculate the projection intervals of the cuboid from Step 2 and the cylinder from Step 3 onto the separation axis in Step 4.1.

[0012] Since the cuboid in step 2 and the cylinder in step 3 are both convex bodies, according to the separation axis theorem, the cuboid and cylinder can be projected along the separation axes obtained in step 4.1, and corresponding one-dimensional projection intervals can be obtained respectively. If the projection intervals of the two do not overlap on any separation axis, it is determined that the cuboid and the cylinder do not collide. If the projection intervals of the two overlap on all separation axes, it is determined that the cuboid and the cylinder collide.

[0013] The specific steps are as follows: Step 4.2.1: Calculate the projection range of the cuboid on the separation axis. Using the pose and dimensions of the cuboid in the global coordinate system obtained in Step 2, calculate the coordinates of the eight vertices of the cuboid. subscript =1, 2, 3, 4, 5, 6, 7, 8, calculate the th... The vertices on the separation axis The projection on is denoted as: (5) in, Represents the dot product. Indicates the first The vertices on the separation axis The projected length on.

[0014] Then the cuboid on the separation axis The projection interval on is: (6) in, Indicates the cuboid at the th Projection intervals on the separation axis; Indicates an interval.

[0015] Step 4.2.2: Calculate the projection range of the cylinder on the separation axis. Using the pose and dimensions of the cylinder in the global coordinate system obtained in Step 3, calculate the center point of the cylinder on the separation axis. Projection on: (7) in, This indicates that the center point of the cylinder is on the separation axis. The projected length on.

[0016] Calculate the cylinder at the separation axis The half-width of the projection on the surface is denoted as: (8) in, Indicates the cylinder at the separation axis The half-width of the projection on the top, It represents the absolute value.

[0017] Then the cylinder is on the separation axis The projection interval on is: (9) in, Indicates the cylinder at the th Projection intervals on the separation axes.

[0018] Step 4.3: Perform interference judgment on the projection intervals of the cuboid and cylinder from Step 4.2 onto the separation axis to determine the separation axis. The two corresponding projection intervals and Whether they overlap. (For the separating axis) Calculate the overlap length of the two corresponding projection intervals, denoted as: (10) in, Indicate the cuboid and cylinder in the th... The overlap length of the projection intervals on the separation axes.

[0019] If it exists If the value is less than 0, according to the separating axis theorem, the cuboid and the cylinder are determined not to collide; if all If the value is greater than or equal to 0, then according to the separation axis theorem, the cuboid and the cylinder are in a collision.

[0020] Step 5: Enclose the walking mechanism of the intelligent shovel robot with three cuboids, dividing the walking mechanism into a left track, a right track, and a slewing chassis. The left track is enclosed by the first cuboid, the right track by the second cuboid, and the slewing chassis by the third cuboid. According to the definition in Step 2, obtain the pose and dimensions of the first, second, and third cuboids in the global coordinate system.

[0021] Step 6: Enclose the mining truck with four cuboids, dividing the truck into a cab, rear undercarriage, left side panel, and right side panel. The cab is enclosed by the fourth cuboid, the rear undercarriage by the fifth cuboid, the left side panel by the sixth cuboid, and the right side panel by the seventh cuboid. Obtain the pose and dimensions of the fourth, fifth, sixth, and seventh cuboids in the global coordinate system according to the definition in Step 2.

[0022] Step 7: Use a cylinder to surround the bucket of the intelligent shovel robot. The width direction of the bucket of the intelligent shovel robot is the axis direction of the cylinder, and the cylindrical surface passes through the tip and bottom of the outermost bucket tooth of the intelligent shovel robot and just surrounds the bucket of the intelligent shovel robot. This cylinder is denoted as a cylinder. According to the definition in Step 3, obtain the pose and size of the cylinder in the global coordinate system.

[0023] Step 8: Plan the bucket trajectory of the intelligent loading robot for "unloading-resetting," take discrete points, and calculate the pose of the cylinder corresponding to each point. Specifically: The bucket trajectory of the intelligent loading robot refers to the trajectory of the bucket's center point, and is evenly distributed along the trajectory. Let the i-th discrete point be denoted as the i-th discrete point. The three-dimensional coordinates of the discrete points are ,in By combining the mechanical structure parameters of the intelligent loading robot, the coordinates of each discrete point on the trajectory are transformed, and combined with the method in step 7, the first... The pose and dimensions corresponding to each discrete point are denoted as follows: ,in This indicates that the bucket of the intelligent loading robot is in the first... The position of each discrete point corresponds to the pose and size of the cylinder in the global coordinate system.

[0024] Step 9: Perform collision detection point by point. The pose and dimensions of the first, second, third, fourth, fifth, sixth, and seventh cuboids obtained in steps 5 and 6 in the global coordinate system are determined according to step 2; the bucket of the intelligent shovel robot obtained in step 8 is in the... The pose and dimensions of the cylinders corresponding to the discrete point positions in the global coordinate system are determined according to step 3. The first, second, third, fourth, fifth, sixth, and seventh cuboids are respectively compared with the first... The cylinders corresponding to the discrete point positions are taken as the objects to be detected, and the collision detection process described in step 4 is executed respectively. Specifically, for each group of objects to be detected, step 4.1 is executed to obtain the separation axis, and step 4.2 is executed to calculate the projection intervals of the cuboid and cylinder on the separation axis. The method in step 4.3 is then used to determine whether a collision has occurred between the two. If the first... If the cylinder at the given discrete point position does not collide with the first, second, third, fourth, fifth, sixth, and seventh cuboids, then collision detection continues for the next discrete point; if the first... If the cylinder at any of the seven cuboids collides with any one of the discrete points, the process returns to step 8 to replan the bucket trajectory of the intelligent loading robot for "unloading-resetting". If none of the discrete points collide with any one of the seven cuboids, the bucket trajectory of the intelligent loading robot is deemed to meet the requirements.

[0025] The beneficial effects of this invention are as follows: (1) This invention provides a collision detection method for cuboids and cylinders based on the separation axis theorem. By constructing the separation axis and calculating the projection interval for interference judgment, it determines whether the cuboid and cylinder collide in the global coordinate system. This method can achieve fast collision detection between cuboids and cylinders and improve the computational efficiency of collision detection.

[0026] (2) The present invention surrounds the walking mechanism of the intelligent shovel robot with three cuboids, the mining truck with four cuboids, and the bucket of the intelligent shovel robot with a cylinder, transforming the collision detection of complex components into collision detection between cuboids and cylinders, which is computationally efficient.

[0027] (3) By traversing the discrete points on the bucket trajectory of the intelligent shovel loading robot of "unloading-resetting" and checking whether the cylinder corresponding to each point collides with all the cuboids, the present invention can achieve fast and reliable collision detection of the entire trajectory.

[0028] (4) The present invention can effectively determine the safety of the bucket trajectory. If a collision occurs, it will return to replan the trajectory, thereby ensuring the safety and reliability of the subsequent operation of the intelligent shovel robot. Attached Figure Description

[0029] Figure 1 This is a flowchart of the present invention.

[0030] Figure 2 This is a diagram showing the walking mechanism of an intelligent shovel robot surrounded by three cuboids.

[0031] Figure 3 This is a diagram showing a mining truck surrounded by four cuboids.

[0032] Figure 4 This is a diagram showing the bucket surrounded by a cylinder. Figure 4 (a) in the figure is a diagram in which a cylinder surrounds the bucket of an intelligent shovel loading robot; Figure 4 (b) in the diagram is the left view of (a); Figure 4 (c) in the diagram is the front view of (a).

[0033] In the diagram: 1. Left track of the traveling mechanism; 2. Right track of the traveling mechanism; 3. Slewing chassis of the traveling mechanism; 4. First cuboid; 5. Second cuboid; 6. Third cuboid; 7. Cab of the mining truck; 8. Rear undercarriage of the mining truck; 9. Left side plate of the mining truck; 10. Right side plate of the mining truck; 11. Fourth cuboid; 12. Fifth cuboid; 13. Sixth cuboid; 14. Seventh cuboid; 15. Tip of the outermost bucket tooth; 16. Bottom of the bucket. Detailed Implementation

[0034] The present invention will be further described below with reference to specific implementation examples.

[0035] This embodiment provides a collision detection method for the bucket and walking mechanism of an intelligent loading robot and a mining truck, such as... Figure 1 The diagram shown illustrates the principle of this invention, which includes the following steps: Step 1: Define the global coordinate system. Take the point on the ground projected from the rotation center of the intelligent shovel robot as the origin of the global coordinate system. Define the z-axis as parallel to the rotation axis and upward in the positive direction, and define the y-axis as parallel to the track and in the forward direction. Obtain the x-axis according to the right-hand rectangular coordinate system rules to obtain the global coordinate system.

[0036] Step 2, define the pose and dimensions of the cuboid in the global coordinate system as follows: (1) in, This represents the pose and dimensions of the cuboid in the global coordinate system. Indicates the center coordinates of the cuboid. This represents the unit vector along the length of the cuboid. This represents a unit vector along the width of the cuboid. This represents the unit vector along the height of the cuboid. Indicates the length of the cuboid. Indicates the width of the cuboid. It represents the height of a cuboid.

[0037] Step 3, define the pose and dimension expressions of the cylinder in the global coordinate system as follows: (2) in, This represents the pose and dimensions of the cylinder in the global coordinate system. Represents the coordinates of the cylinder's center. The unit vector representing the direction of the cylinder's axis. This represents the radius of the cylinder. This indicates the height of the cylinder.

[0038] Step 4: A collision detection method for cuboids and cylinders based on the separating axis theorem in a global coordinate system is proposed. The specific steps are as follows: Step 4.1: Based on the pose and dimensions of the cuboid in the global coordinate system obtained in Step 2, and the pose and dimensions of the cylinder in the global coordinate system obtained in Step 3, construct the initial set of separation axes to be tested. The specific construction method is as follows: extract the unit vectors of the length, width, and height directions of the cuboid obtained in Step 2. Extract the unit vector along the axis of the cylinder from step 3. And construct the additional set by successively cross-producting the unit vectors along the axis of the cylinder with the unit vectors along the length, width, and height of the cuboid. The unit vectors along the length, width, and height of the cuboid, the unit vector along the axis of the cylinder, and the additional set are merged to obtain the initial set of the separating axes to be tested. This is denoted as: (3) in, Represents the vector product.

[0039] Initial set of separation axes The vectors within are denoted as follows: , , , , , , , ~ Recorded as subscript =1, 2, 3, 4, 5, 6, 7, representing the th, 2, 3, 4, 5, 6, 7. A vector, This represents the first vector. This represents the second vector. This represents the third vector. This represents the 4th vector. This represents the 5th vector. This represents the 6th vector. Represents the 7th vector; culling The zero vector in the vector is then normalized: (4) in, Represents the magnitude of the vector; Indicates the separation axis; subscript express non-zero vectors in Value, index express The first in One non-zero vector; express The Middle A vector.

[0040] Step 4.2: Calculate the projection intervals of the cuboid from Step 2 and the cylinder from Step 3 onto the separation axis in Step 4.1.

[0041] Since the cuboid in step 2 and the cylinder in step 3 are both convex bodies, according to the separating axis theorem, the cuboid and cylinder can be projected along the separating axes obtained in step 4.1, and corresponding one-dimensional projection intervals can be obtained respectively. If the projection intervals of the two do not overlap on any separating axis, it is determined that the cuboid and cylinder do not collide; if the projection intervals of the two overlap on all separating axes, it is determined that the cuboid and cylinder collide. The specific steps are as follows: Step 4.2.1: Calculate the projection range of the cuboid on the separation axis. Using the pose and dimensions of the cuboid in the global coordinate system obtained in Step 2, calculate the coordinates of the eight vertices of the cuboid. subscript =1, 2, 3, 4, 5, 6, 7, 8, calculate the th... The vertices on the separation axis The projection on is denoted as: (5) in, Represents the dot product. Indicates the first The vertices on the separation axis The projected length on.

[0042] Then the cuboid on the separation axis The projection interval on is: (6) in, Indicates the cuboid at the th Projection intervals on the separation axis; Indicates an interval.

[0043] Step 4.2.2: Calculate the projection range of the cylinder on the separation axis. Using the pose and dimensions of the cylinder in the global coordinate system obtained in Step 3, calculate the center point of the cylinder on the separation axis. Projection on: (7) in, This indicates that the center point of the cylinder is on the separation axis. The projected length on.

[0044] Calculate the cylinder at the separation axis The half-width of the projection on the surface is denoted as: (8) in, Indicates the cylinder at the separation axis The half-width of the projection on the top, It represents the absolute value.

[0045] Then the cylinder is on the separation axis The projection interval on is: (9) in, Indicates the cylinder at the th Projection intervals on the separation axes.

[0046] Step 4.3: Perform interference judgment on the projection intervals of the cuboid and cylinder from Step 4.2 onto the separation axis to determine the separation axis. The two corresponding projection intervals and Whether they overlap. (For the separating axis) Calculate the overlap length of the two corresponding projection intervals, denoted as: (10) in, Indicate the cuboid and cylinder in the th... The overlap length of the projection intervals on the separation axes.

[0047] If it exists If the value is less than 0, according to the separating axis theorem, the cuboid and the cylinder are determined not to collide; if all If the value is greater than or equal to 0, then according to the separation axis theorem, the cuboid and the cylinder are in a collision.

[0048] Step 5, as follows Figure 2 As shown, the walking mechanism of the intelligent shovel robot is surrounded by three cuboids, which are divided into a left track, a right track, and a slewing chassis. The left track is surrounded by the first cuboid, the right track by the second cuboid, and the slewing chassis by the third cuboid. The pose and dimensions of the first, second, and third cuboids in the global coordinate system are obtained according to the definition in step 2.

[0049] In this implementation, the first, second, and third cuboids are all defined by enclosing the corresponding components within their respective cuboids. Specifically, the length of the first and second cuboids is taken as the direction of the track's forward movement, the width as the lateral direction of the track, and the height as the vertical direction. The length, width, and height of the third cuboid are determined based on the actual orientation of the rotating chassis in the global coordinate system. This method simplifies the intelligent loading robot's walking mechanism into three cuboids, facilitating subsequent collision detection.

[0050] Step 6, as follows Figure 3 As shown, a mining truck is surrounded by four cuboids, dividing it into a cab, rear undercarriage, left side panel, and right side panel. The cab is surrounded by the fourth cuboid, the rear undercarriage by the fifth cuboid, the left side panel by the sixth cuboid, and the right side panel by the seventh cuboid. Following the definition in step 2, the pose and dimensions of the fourth, fifth, sixth, and seventh cuboids in the global coordinate system are obtained respectively.

[0051] In this implementation, the fourth to seventh cuboids are all defined by enclosing the corresponding components' circumscribed cuboids, and their length, width, and height are determined based on the actual orientation of the corresponding components in the global coordinate system. This method simplifies the mining truck into four cuboids, facilitating subsequent collision detection.

[0052] Step 7, as follows Figure 4 As shown, a cylinder is used to surround the bucket of the intelligent shovel robot. The width direction of the bucket of the intelligent shovel robot is taken as the axis direction of the cylinder, and the cylindrical surface passes through the tip 15 of the outermost bucket tooth and the bottom of the bucket of the intelligent shovel robot, and just surrounds the bucket of the intelligent shovel robot. This cylinder is denoted as a cylinder. The pose and size of the cylinder in the global coordinate system are obtained according to the definition in step 3.

[0053] In this embodiment, the axial direction of the cylinder is always consistent with the bucket width direction. The center of the cylinder is taken as the geometric center surrounding the cylinder. The radius of the cylinder is determined by the cylindrical surface passing through the tip of the outermost bucket tooth and the bottom 16 of the bucket. The height of the cylinder is taken as the dimension that just surrounds the bucket along the bucket width direction. In this way, the complex structure of the bucket is simplified into a cylinder.

[0054] Step 8: Plan the bucket trajectory of the intelligent loading robot for "unloading-resetting," take discrete points, and calculate the pose of the cylinder corresponding to each point. Specifically: The bucket trajectory of the intelligent loading robot refers to the trajectory of the bucket's center point, and is evenly distributed along the trajectory. In this implementation case, there are discrete points. =100, let the first... The three-dimensional coordinates of the discrete points are ,in By combining the mechanical structure parameters of the intelligent loading robot, the coordinates of each discrete point on the trajectory are transformed, and combined with the method in step 7, the first... The pose and dimensions corresponding to each discrete point are denoted as follows: ,in This indicates that the bucket of the intelligent loading robot is in the first... The position of each discrete point corresponds to the pose and size of the cylinder in the global coordinate system.

[0055] Step 9: Perform collision detection point by point. The pose and dimensions of the first, second, third, fourth, fifth, sixth, and seventh cuboids obtained in steps 5 and 6 in the global coordinate system are determined according to step 2; the bucket of the intelligent shovel robot obtained in step 8 is in the... The pose and dimensions of the cylinders corresponding to the discrete point positions in the global coordinate system are determined according to step 3. The first, second, third, fourth, fifth, sixth, and seventh cuboids are respectively compared with the first... The cylinders corresponding to the discrete point positions are taken as the objects to be detected, and the collision detection process described in step 4 is executed respectively. Specifically, for each group of objects to be detected, step 4.1 is executed to obtain the separation axis, and step 4.2 is executed to calculate the projection intervals of the cuboid and cylinder on the separation axis. The method in step 4.3 is then used to determine whether a collision has occurred between the two. If the first... If the cylinder at the given discrete point position does not collide with the first, second, third, fourth, fifth, sixth, and seventh cuboids, then collision detection continues for the next discrete point; if the first... If the cylinder at any of the 100 discrete points collides with any of the seven cuboids, then return to step 8 to replan the bucket trajectory of the intelligent loading robot for "unloading-resetting". If none of the 100 discrete points collide with any of the seven cuboids, then the bucket trajectory of the intelligent loading robot is deemed to meet the requirements.

[0056] In this implementation case, after performing collision detection on 100 discrete points on the "unloading-resetting" trajectory in sequence according to the above steps, the cylinders corresponding to each discrete point position did not collide with the first cuboid, the second cuboid, the third cuboid, the fourth cuboid, the fifth cuboid, the sixth cuboid, and the seventh cuboid. Therefore, it was determined that the "unloading-resetting" bucket trajectory met the requirements.

[0057] The above embodiments are merely illustrative of the implementation methods of the present invention, but should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the protection scope of the present invention.

Claims

1. A collision detection method for the bucket and walking mechanism of an intelligent loading robot and a mining truck, characterized in that, The collision detection method includes the following steps: Step 1: Define the global coordinate system. Take the point on the ground projected by the rotation center of the intelligent shovel robot as the origin of the global coordinate system. Define the z-axis as parallel to the rotation axis and upward in the positive direction, and define the y-axis as parallel to the track and in the forward direction. Obtain the x-axis according to the right-hand rectangular coordinate system rules to obtain the global coordinate system. Step 2: Define the pose and dimensions of the cuboid in the global coordinate system; Step 3: Define the pose and dimensions of the cylinder in the global coordinate system; Step 4: A collision detection method for cuboids and cylinders based on the separating axis theorem in a global coordinate system is proposed. The specific steps are as follows: Step 4.1: Based on the pose and dimensions of the cuboid in the global coordinate system obtained in Step 2, and the pose and dimensions of the cylinder in the global coordinate system obtained in Step 3, construct the initial set of the separation axes to be tested. Step 4.2: Calculate the projection intervals of the cuboid from Step 2 and the cylinder from Step 3 onto the separation axis in Step 4.1; Project the cuboid and cylinder along the separation axes obtained in step 4.1 to obtain the corresponding one-dimensional projection intervals. If the projection intervals of the two do not overlap on any separation axis, it is determined that the cuboid and cylinder do not collide. If the projection intervals of the two overlap on all separation axes, it is determined that the cuboid and cylinder collide. Step 4.3: Perform interference judgment on the projection intervals of the cuboid and cylinder on the separation axis from Step 4.2, and determine whether the two projection intervals corresponding to the separation axis overlap. Step 5: Enclose the walking mechanism of the intelligent shovel robot with three cuboids and define its pose and size in the global coordinate system. Step 6: Surround the mining truck with four cuboids and define its pose and size in the global coordinate system; Step 7: Use a cylinder to surround the bucket of the intelligent shovel robot. The width direction of the bucket of the intelligent shovel robot is the axis direction of the cylinder, and the cylindrical surface passes through the tip and bottom of the outermost bucket tooth of the intelligent shovel robot and surrounds the bucket of the intelligent shovel robot. This cylinder is denoted as a cylinder. According to the definition in Step 3, the pose and size of the cylinder in the global coordinate system are obtained. Step 8: Plan the bucket trajectory of the intelligent loading robot for unloading and resetting, take discrete points, and calculate the pose of the cylinder corresponding to each point; Step 9: Perform collision detection point by point.

2. The collision detection method for the bucket and walking mechanism of the intelligent loading robot and the mining truck according to claim 1, characterized in that, In step 2, the pose and dimensions of the cuboid in the global coordinate system are expressed as follows: (1) in, This represents the pose and dimensions of the cuboid in the global coordinate system. Indicates the center coordinates of the cuboid. This represents the unit vector along the length of the cuboid. This represents a unit vector along the width of the cuboid. This represents the unit vector along the height of the cuboid. Indicates the length of the cuboid. Indicates the width of the cuboid. It represents the height of a cuboid.

3. The collision detection method for the bucket and walking mechanism of the intelligent loading robot and the mining truck according to claim 2, characterized in that, In step 3, the pose and dimensions of the cylinder in the global coordinate system are expressed as follows: (2) in, This represents the pose and dimensions of the cylinder in the global coordinate system. Represents the coordinates of the cylinder's center. The unit vector representing the direction of the cylinder's axis. This represents the radius of the cylinder. This indicates the height of the cylinder.

4. The collision detection method for the bucket and walking mechanism of the intelligent loading robot and the mining truck according to claim 3, characterized in that, Step 4.1 specifically involves: Extract the unit vectors along the length, width, and height of the cuboid from step 2. Extract the unit vector along the axis of the cylinder from step 3. And construct the additional set by successively cross-producting the unit vectors along the axis of the cylinder with the unit vectors along the length, width, and height of the cuboid. The unit vectors in the length, width, and height directions of the cuboid, the unit vector in the axis direction of the cylinder, and the additional set are merged to obtain the initial set of the separating axes to be tested. Recorded as: (3) in, Represents the vector product; Initial set of separation axes The vectors within are denoted as follows: , , , , , , , ~ Recorded as subscript =1, 2, 3, 4, 5, 6, 7, representing the th, 2, 3, 4, 5, 6, 7. A vector, This represents the first vector. This represents the second vector. This represents the third vector. This represents the 4th vector. This represents the 5th vector. This represents the 6th vector. Represents the 7th vector; culling The zero vector in the vector is then normalized: (4) in, Represents the magnitude of the vector; Indicates the separation axis; subscript express non-zero vectors in Value, index express The first in One non-zero vector; express The Middle A vector.

5. The collision detection method for the bucket and walking mechanism of the intelligent loading robot and the mining truck according to claim 4, characterized in that, Step 4.2 specifically involves: Step 4.2.1: Calculate the projection interval of the cuboid on the separation axis; using the pose and dimensions of the cuboid in the global coordinate system obtained in Step 2, calculate the coordinates of the eight vertices of the cuboid. subscript =1, 2, 3, 4, 5, 6, 7, 8, calculate the th... The vertices on the separation axis The projection on is denoted as: (5) in, Represents the dot product. Indicates the first The vertices on the separation axis The projected length on; Then the cuboid on the separation axis The projection interval on is: (6) in, Indicates the cuboid at the th Projection intervals on the separation axis; Indicates an interval; Step 4.2.2: Calculate the projection range of the cylinder on the separation axis; using the pose and dimensions of the cylinder in the global coordinate system obtained in Step 3, calculate the center point of the cylinder on the separation axis. Projection on: (7) in, This indicates that the center point of the cylinder is on the separation axis. The projected length on; Calculate the cylinder at the separation axis The half-width of the projection on the surface is denoted as: (8) in, Indicates the cylinder at the separation axis The half-width of the projection on the top, Represents absolute value; Then the cylinder is on the separation axis The projection interval on is: (9) in, Indicates the cylinder at the th Projection intervals on the separation axes.

6. The collision detection method for the bucket and walking mechanism of the intelligent loading robot and the mining truck according to claim 5, characterized in that, Step 4.3 specifically involves: For the split shaft Calculate the overlap length of the two corresponding projection intervals, denoted as: (10) in, Indicate the cuboid and cylinder in the th... The overlap length of the projection intervals on the separation axis; If it exists If the value is less than 0, then the cuboid and cylinder are determined not to have collided; if all... If the value is greater than or equal to 0, then the cuboid and the cylinder are considered to be colliding.

7. The collision detection method for the bucket and walking mechanism of the intelligent loading robot and the mining truck according to claim 6, characterized in that, Step 5 specifically involves: dividing the walking mechanism of the intelligent shovel robot into a left track, a right track, and a slewing chassis; the left track is surrounded by a first cuboid, the right track is surrounded by a second cuboid, and the slewing chassis is surrounded by a third cuboid; and the pose and dimensions of the first, second, and third cuboids in the global coordinate system are obtained according to the definition in step 2.

8. The collision detection method for the bucket and walking mechanism of the intelligent loading robot and the mining truck according to claim 7, characterized in that, Step 6 specifically involves: surrounding the mining truck with four cuboids, and dividing the mining truck into a cab, a rear undercarriage, a left side panel, and a right side panel; the cab is surrounded by a fourth cuboid, the rear undercarriage by a fifth cuboid, the left side panel by a sixth cuboid, and the right side panel by a seventh cuboid; according to the definition in step 2, the pose and dimensions of the fourth, fifth, sixth, and seventh cuboids in the global coordinate system are obtained respectively.

9. The collision detection method for the bucket and walking mechanism of the intelligent loading robot and the mining truck according to claim 8, characterized in that, Step 8 specifically involves: The bucket trajectory of an intelligent loading robot refers to the trajectory of the bucket's center point, and is evenly distributed along the trajectory. Let the i-th discrete point be denoted as the i-th discrete point. The three-dimensional coordinates of the discrete points are ,in By combining the mechanical structure parameters of the intelligent loading robot, the coordinates of each discrete point on the trajectory are transformed, and the result is obtained by combining the method in step 7. The pose and dimensions corresponding to each discrete point are denoted as follows: ,in This indicates that the bucket of the intelligent loading robot is in the first... The position of each discrete point corresponds to the pose and size of the cylinder in the global coordinate system.

10. The collision detection method for the bucket and walking mechanism of the intelligent loading robot and the mining truck according to claim 9, characterized in that, Step 9 specifically involves: The pose and dimensions of the first, second, third, fourth, fifth, sixth, and seventh cuboids obtained in steps 5 and 6 in the global coordinate system are determined according to step 2; the bucket of the intelligent shovel robot obtained in step 8 is in the... The pose and dimensions of the cylinders corresponding to the discrete point positions in the global coordinate system are determined according to step 3; the first, second, third, fourth, fifth, sixth, and seventh cuboids are respectively compared with the first... The cylinders corresponding to each discrete point position are taken as the objects to be detected, and the collision detection process described in step 4 is executed respectively. For each group of objects to be detected, step 4.1 is executed to obtain the separation axis, and step 4.2 is executed to calculate the projection intervals of the cuboid and cylinder on the separation axis. The method in step 4.3 is then used to determine whether a collision occurs between the two objects; if the first... If the cylinder at the given discrete point position does not collide with the first, second, third, fourth, fifth, sixth, and seventh cuboids, then collision detection continues for the next discrete point; if the first... If the cylinder at any of the seven cuboids collides with any of the discrete points, the process returns to step 8 to replan the bucket trajectory of the intelligent loading robot for unloading and resetting. If none of the discrete points collide with any of the seven cuboids, the bucket trajectory of the intelligent loading robot is deemed to meet the requirements.

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