CN110544313B - Shovel loading equipment, shovel loading guiding method, device, equipment and storage medium thereof - Google Patents
Shovel loading equipment, shovel loading guiding method, device, equipment and storage medium thereof Download PDFInfo
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Abstract
The invention discloses a shoveling device, a shoveling guiding method, a shoveling guiding device, a shoveling device and a storage medium. Wherein, the method comprises the following steps: acquiring a grade distribution model and surface space information corresponding to a target pile-bursting, wherein the grade distribution model is used for determining the spatial distribution of different grade areas, and the surface space information is used for determining the surface space distribution of the target pile-bursting; constructing a three-dimensional model corresponding to the target blasting pile based on the surface space information and the grade distribution model, wherein the three-dimensional model distinguishes different grade areas corresponding to the target blasting pile through identification; acquiring the current corresponding position information of a bucket of the shoveling equipment; and displaying the bucket on a three-dimensional space corresponding to the three-dimensional model based on the position information corresponding to the bucket currently. The operation requirement of remote control shovel dress operation is satisfied, the open-pit mine digitization level has been promoted, the utilization improves the rate of accuracy and the efficiency of shovel dress, and the grade of shovel dress ore has obtained effective assurance.
Description
Technical Field
The invention relates to the field of mining, in particular to shovel loading equipment, a shovel loading guiding method, a shovel loading guiding device, shovel loading equipment and a storage medium.
Background
In the normal production process of the strip mine, the blocks need to be designed according to the annual mining plan, and the ore rock is gradually mined in the blocks according to the monthly plan. Drilling a directional blasting hole with a certain diameter and depth in planned and explored ore rock by using a rock drilling machine, putting explosives into the blasting hole and then detonating, breaking the ore rock by using huge energy released instantly by explosive blasting, and breaking the ore rock from an ore body into a certain lump according to engineering requirements to form a certain blasting pile. The shoveling and loading equipment excavates the ore rocks from the blasting pile, loads the ore rocks into a transportation container, and transports the ore rocks to an ore receiving bin of the crusher or a certain place to continue the next operation step.
According to ore proportioning needs, shovel loading operation needs to be carried out in an area with a specified grade of a target blasting pile within a certain time period, in the related technology, blast hole data needs to be collected in advance, the blast hole data is sent to a mine laboratory for analysis and assay, grade estimation is carried out on the blasting pile according to the ore grade obtained through analysis, and the blasting pile is divided into areas with different grades according to estimation results, namely grade distribution models. To guide the shovel-loading operation, different areas of the blasting pile are generally marked by using stakes and colored ribbons. When the forklift is used in field operation, a forklift operator and a field supervisor cooperate to carry out shoveling operation, so that the efficiency is low, the labor cost is high, and shoveling and loading are easy to cross the boundary.
Disclosure of Invention
In view of this, embodiments of the present invention provide a shoveling device, a shoveling guiding method, an apparatus, a device, and a storage medium thereof, and aim to automatically implement shoveling guiding of the shoveling device, so as to meet the shoveling requirement of ores of a target grade and improve the shoveling operation efficiency.
The technical scheme of the embodiment of the invention is realized as follows:
the embodiment of the invention provides a shoveling guiding method for shoveling equipment, which comprises the following steps:
acquiring a grade distribution model and surface space information corresponding to a target pile-bursting, wherein the grade distribution model is used for determining the spatial distribution of different grade areas, and the surface space information is used for determining the surface space distribution of the target pile-bursting;
constructing a three-dimensional model corresponding to the target blasting pile based on the surface space information and the grade distribution model, wherein the three-dimensional model distinguishes different grade areas corresponding to the target blasting pile through identification;
acquiring current corresponding position information of a bucket of the shoveling equipment;
and displaying the bucket on a three-dimensional space corresponding to the three-dimensional model based on the position information corresponding to the bucket currently.
An embodiment of the present invention further provides a shoveling guiding device for shoveling equipment, including:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a grade distribution model and surface space information corresponding to a target explosive pile, the grade distribution model is used for determining the spatial distribution of different grade areas, and the surface space information is used for determining the surface space distribution of the target explosive pile;
the modeling module is used for constructing a three-dimensional model corresponding to the target explosive pile based on the surface space information and the grade distribution model, wherein the three-dimensional model distinguishes different grade areas corresponding to the target explosive pile through identification;
the second acquisition module is used for acquiring the current corresponding position information of a bucket of the shoveling equipment;
and the display module is used for displaying the bucket on a three-dimensional space corresponding to the three-dimensional model based on the position information corresponding to the bucket at present.
An embodiment of the present invention further provides a shovel loader guiding apparatus, including: a processor and a memory for storing a computer program capable of running on the processor, wherein,
the processor is configured to execute the steps of the method according to any embodiment of the present invention when the processor runs the computer program.
An embodiment of the present invention further provides a shovel loading device, including: a processor and a memory for storing a computer program capable of running on the processor, wherein,
the processor is configured to execute the steps of the method according to any embodiment of the present invention when the processor runs the computer program.
The embodiment of the present invention further provides a storage medium, where a computer program is stored on the storage medium, where the computer program is executed by a processor to implement the steps of the method according to any embodiment of the present invention.
According to the technical scheme provided by the embodiment of the invention, the three-dimensional model corresponding to the target explosive pile is constructed based on the surface space information and the grade distribution model corresponding to the target explosive pile, different grade areas corresponding to the target explosive pile are distinguished by the three-dimensional model through the identification, and the different grade areas are distinguished by the identification on the three-dimensional model to replace the standard pile and the colored ribbon, so that the operation requirement of remote control shovel loading operation is met, the digitization level of the open-pit mine is improved, the shovel loading accuracy and efficiency are improved, and the grade of the shovel-loaded ore is effectively ensured.
Drawings
Fig. 1 is a schematic flow chart of a shovel loading guiding method of a shovel loading device according to an embodiment of the invention;
FIG. 2 is a schematic structural view of a shoveling apparatus according to an embodiment of the present invention;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a schematic structural diagram of a guide device of a shoveling apparatus according to an embodiment of the invention;
FIG. 5 is a schematic structural view of a shovel loader guide apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a shovel device according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
According to the method, in various embodiments of the invention, a three-dimensional model corresponding to the target blasting pile is constructed based on surface space information and a grade distribution model corresponding to the target blasting pile, the three-dimensional model distinguishes different grade areas corresponding to the target blasting pile through identification, the identification on the three-dimensional model is used for distinguishing different grade areas, and a standard pile and a colored ribbon are replaced, so that the operation requirement of remote control shoveling operation is met, the digitalization level of the open-pit mine is improved, the shoveling accuracy and efficiency are improved, and the shoveled ore grade is effectively guaranteed.
In the embodiment of the invention, the shoveling equipment is mining equipment. The shovel loading equipment comprises a travelling mechanism, a rack, a rotating platform and a bucket. The rotating table and the scraper bowl are arranged on the frame, the traveling mechanism supports the frame and drives the frame to move, the rotating table can rotate relative to the frame to drive the scraper bowl on the rotating table to rotate, the scraper bowl is fixed on the rotating table through the lifting mechanism, and the scraper bowl can be driven by the lifting mechanism to carry out excavation and unloading operation. Illustratively, the shoveling apparatus is an electric shovel. The electric shovel can be provided with a real-time dynamic global positioning system (GNSS-RTK) receiving antenna and a time of flight (TOF) camera.
The shoveling and loading guiding method of the shoveling and loading equipment provided by the embodiment of the invention can be applied to a vehicle-mounted processor of the shoveling and loading equipment or a remote control platform, and as shown in fig. 1, the method comprises the following steps:
In actual application, the blasting pile where the shoveling and loading equipment is located is the target blasting pile. The grade distribution model corresponding to the target pile-blasting can be determined by a mine laboratory based on the grade analysis result. Here, grade refers to the content of useful components or useful minerals in a unit volume or a unit weight of ore. Specifically, after the strip mine area is divided, the blast hole design, the perforation operation, the blast hole primary screening and the lithology editing operation are carried out, a drilling sample is taken out at the mine blasting operation site, the drilling position is recorded, and the drilling sample is sent to a mine laboratory for testing and analyzing grades and is stored one by one. According to different ore grades, areas of different grades are divided, so that boundaries of different grade areas of the blasting pile on a three-dimensional space are recorded, and corresponding grade distribution models are obtained.
In practical application, the depth image acquisition device or the laser array acquisition device can be used for acquiring surface space information corresponding to the target explosive pile, and for the depth image acquisition device, the acquired surface space information of the target explosive pile can be depth image information; for the laser array acquisition device, the acquired surface space information of the target blasting pile can be three-dimensional point cloud information. In an application example, a TOF camera is arranged on the shovel device, and the TOF camera mainly comprises: the device comprises a light source, a photosensitive chip, a lens, a sensor, a drive control circuit and a processing circuit. The photosensitive chip includes: the emitting illumination module and the sensitive receiving module generate surface space information according to the correlation between the two modules. Specifically, the sensitization chip of TOF camera adopts the face array formula sensitization chip, in order to measure the depth image information of whole three-dimensional explosive heap surface position, through the face array formula sensitization chip, shoots a scene picture and can acquire the surface geometry information of whole scene in real time. In an embodiment, an on-board processor or a remote control platform acquires depth image information output by a TOF camera, and converts data of the depth image information into a point cloud, specifically including: firstly, performing preliminary correction and temperature calibration on data of original depth image information, then completing distortion correction of an image, finally converting a coordinate system of the depth image information into a camera coordinate system, converting the depth information on the image into a three-dimensional coordinate system taking a camera as an origin, completing conversion of the depth data, and obtaining a converted point cloud.
102, constructing a three-dimensional model corresponding to the target explosive pile based on the surface space information and the grade distribution model, wherein the three-dimensional model distinguishes different grade areas corresponding to the target explosive pile through identification.
In an embodiment of the present invention, the constructing a three-dimensional model corresponding to the target explosive pile based on the surface space information and the grade distribution model includes:
determining a first model corresponding to the surface space distribution of the target blasting pile based on the surface space information;
and superposing different grade areas in the grade distribution model to the first model in different colors based on an augmented reality technology to form the three-dimensional model.
In practical application, an on-board processor is taken as an example for explanation, the on-board processor converts data of surface space information into point clouds, and three-dimensional real-time modeling of the explosive pile is completed by loading a model of a three-dimensional space, a densified (smooth) grid or a sparse (simplified) grid, so that a first model corresponding to surface space distribution of the target explosive pile is obtained.
The method comprises the steps of obtaining a grade distribution model of a target blasting pile stored on a network or locally stored, matching the grade distribution model with position information of the blasting pile in a first model, and overlaying different grade areas onto the first model in different colors by using an augmented reality technology to form a three-dimensional model of the blasting pile so as to increase internal attributes of the blasting pile, namely grade height or ore rock attributes. Therefore, the shovel loader can quickly and accurately identify the grade of the area to be shoveled and loaded by a shovel loader, and shovel loading work is carried out.
And 103, acquiring the current corresponding position information of the bucket of the shoveling equipment.
In an embodiment, the obtaining of the position information corresponding to the bucket of the shoveling apparatus includes:
acquiring pose information of the shoveling equipment and state parameters corresponding to the bucket;
determining position information corresponding to the bucket at present based on the pose information and the state parameters; the pose information comprises position information and a course angle of the shoveling equipment, and the state parameters comprise the length and the rotation angle of a shovel arm of the shovel.
In an application example, as shown in fig. 2 and 3, the shovel device includes: the device comprises a rotary platform 1, a small shovel arm 2, a bucket 3, a bucket opening mechanism 4, a TOF camera 5, an RTK receiving antenna 6, an angle sensor 7 and a large shovel arm 8. The rotary platform 1 is the rotary platform, two RTK receiving antennas 6 for receiving GNSS positioning information are symmetrically arranged on the rotary platform 1 relative to a rotation center, and position coordinate information and a course angle corresponding to the shoveling device are determined based on two GNSS positioning information corresponding to the two RTK receiving antennas 6. TOF camera 5 sets up in the bilateral symmetry both sides of rotary platform 1 for carry out image detection in order to gather the image depth information of exploding the heap to shovel equipment will shovel the dress region. Big shovel arm 8 is articulated with rotary platform 1, promotes under the effect that can first hoist mechanism, and the articulated department of big shovel arm 8 sets up an angle sensor 7, and this angle sensor 7 detects the rotation angle that big shovel arm 8 corresponds. The small shovel arm 2 is hinged to the large shovel arm 8 and can be lifted under the action of the second lifting mechanism, an angle sensor 7 is arranged at the hinged position of the small shovel arm 2, and the angle sensor 7 detects the rotating angle corresponding to the small shovel arm 2. The bucket 3 is connected to the small blade arm 2 and is located at the front end of the small blade arm 2. The bucket opening mechanism 4 is used for controlling the opening and closing of a baffle plate at the bottom of the bucket 3, thereby controlling the ore drawing operation.
Exemplarily, the positioning information corresponding to the first RTK receiving antenna is assumed to be (x) 1 ,y 1 ,z 1 ) The positioning information corresponding to the second RTK receiving antenna is (x) 2 ,y 2 ,z 2 ) Since the first and second receiving antennas are installed at both ends of the rotary table of the electric shovel (i.e., the shovel device) symmetrically with respect to the center of rotation, the electric shovel has a first attitude (x, y, z, θ) of the center point thereof 1 ) Comprises the following steps:
z＝z 1 ＝z 2
wherein x, y and z are position coordinate information of the electric shovel in a world coordinate system, and theta 1 Is the heading angle of the shovel.
The on-board processor acquires the position coordinate information x, y, z and the course angle theta of the electric shovel 1 And then, acquiring state parameters of a bucket of the electric shovel, wherein the state parameters comprise:
L 1 、L 2 and H. Wherein,
the corresponding rotation angles, L, of the large shovel arm and the small shovel arm respectively 1 、L 2 The lengths of the big shovel arm and the small shovel arm are respectively corresponding, H is the length between the bottom of the small shovel arm and HDistance of RTK receiving antenna installation face. The position (x) of the bucket of the shovel 2 ,y 2 ,z 2 ) Can be determined based on the following formula:
therefore, the position information corresponding to the bucket at present can be determined based on the pose information of the electric shovel and the state parameters of the bucket.
And 104, displaying the bucket on a three-dimensional space corresponding to the three-dimensional model based on the position information corresponding to the bucket currently.
According to the position information of the bucket corresponding to the current position determined in the step 103, the position of the bucket corresponding to the bucket in real time is displayed on the three-dimensional space corresponding to the three-dimensional model, so that real-time operation of electric shovel operators can be facilitated, traditional stake marking and colored ribbons are omitted, shovel loading operation can be performed without cooperation with site supervisors, operation efficiency is improved, and labor cost is saved.
In an embodiment, based on the obtained actual position information of the bucket, the bucket is subjected to three-dimensional modeling in a three-dimensional visual environment (i.e., a three-dimensional space), the bucket model is simplified into a cuboid model with the same volume and size, and the color of the cuboid model is obviously different from the three-dimensional environment where the cuboid model is located. The model can acquire the actual position of the bucket in real time along with the movement of the bucket and update the actual position on the three-dimensional model in real time.
In an embodiment, the method further comprises:
acquiring a shoveling instruction which carries first information representing a target grade area corresponding to the target pile-bursting;
and generating navigation information for guiding the bucket based on the first information and the position information corresponding to the bucket currently.
Here, the target grade region corresponding to the grade required for the current shovel may be determined according to the shovel instruction, and the navigation information may be generated according to the distribution of the target region on the three-dimensional model and the position information currently corresponding to the bucket, where the navigation information may be an arrow indicator.
In one embodiment, an optimal shoveling position of the bucket corresponding to the target grade area is determined based on the current corresponding position information of the bucket; and generating the navigation information in a visual environment corresponding to the three-dimensional model based on the optimal shovel loading position.
In an embodiment, the method further comprises:
and if the current corresponding position information of the bucket exceeds the target grade area, generating boundary-crossing record information.
Therefore, the operation records of the shovel loader can be effectively supervised and examined through the generated border-crossing record information.
In order to implement the method according to the embodiment of the present invention, an embodiment of the present invention further provides a shoveling guiding device for shoveling equipment, as shown in fig. 4, including:
a first obtaining module 401, configured to obtain a grade distribution model and surface space information corresponding to a target explosive pile, where the grade distribution model is used to determine spatial distributions of different grade areas, and the surface space information is used to determine surface space distribution of the target explosive pile;
a modeling module 402, configured to construct a three-dimensional model corresponding to the target pile-up based on the surface space information and the grade distribution model, where the three-dimensional model distinguishes different grade regions corresponding to the target pile-up by identifiers;
a second obtaining module 403, configured to obtain current corresponding position information of a bucket of the shoveling apparatus;
a display module 404, configured to display the bucket on a three-dimensional space corresponding to the three-dimensional model based on the position information that the bucket currently corresponds to.
In some embodiments, the apparatus further comprises: a third acquisition module 405 and a navigation module 406,
the third obtaining module 405 is configured to obtain a loading instruction, where the loading instruction carries first information representing a target grade area corresponding to the target pile burst;
the navigation module 406 is configured to generate navigation information for guiding the bucket based on the first information and the current corresponding position information of the bucket.
In some embodiments, the apparatus further comprises: a recording module 407, where the recording module 407 is configured to generate boundary crossing recording information if the current corresponding position information of the bucket exceeds the target grade area.
In some embodiments, the modeling module 402 is specifically configured to:
determining a first model corresponding to the surface space distribution of the target blasting pile based on the surface space information;
and superposing different grade areas in the grade distribution model to the first model in different colors based on an augmented reality technology to form the three-dimensional model.
In some embodiments, the second obtaining module 403 is specifically configured to:
acquiring pose information of the shoveling equipment and state parameters corresponding to the bucket;
determining position information corresponding to the bucket at present based on the pose information and the state parameters; the pose information comprises position information and a course angle of the shoveling equipment, and the state parameters comprise the length and the rotation angle of a shovel arm of the shovel.
In some embodiments, the navigation module 406 is specifically configured to:
determining an optimal shoveling position of the bucket corresponding to the target grade area based on the current corresponding position information of the bucket;
and generating the navigation information on a three-dimensional space corresponding to the three-dimensional model based on the optimal shovel loading position.
It should be noted that: the shovel loader guiding device provided in the above embodiment is only illustrated by dividing the program modules when the shovel loader is used for shovel loading guidance, and in practical applications, the above processing distribution may be completed by different program modules according to needs, that is, the internal structure of the device may be divided into different program modules to complete all or part of the above-described processing. In addition, the shoveling and guiding device of the shoveling and loading equipment and the shoveling and guiding method embodiment of the shoveling and loading equipment provided by the above embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and are not described again here.
Based on the hardware implementation of the program module, and in order to implement the method according to the embodiment of the present invention, an embodiment of the present invention further provides a shovel loader guiding device, where the shovel loader guiding device may be a remote operation platform or a mobile terminal device. Fig. 5 shows only an exemplary structure of the apparatus, not a whole structure, and a part or the whole structure shown in fig. 5 may be implemented as necessary.
As shown in fig. 5, a shovel loading guide apparatus 500 according to an embodiment of the present invention includes: at least one processor 501, memory 502, a user interface 503, and at least one network interface 504. The various components in the shovel guide apparatus 500 are coupled together by a bus system 505. It will be appreciated that the bus system 505 is used to enable communications among the components of the connection. The bus system 505 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 505 in FIG. 5.
The user interface 503 may include a display, a keyboard, a mouse, a trackball, a click wheel, a key, a button, a touch pad, a touch screen, or the like, among others.
The shovel loading guiding method disclosed by the embodiment of the invention can be applied to the processor 501, or can be implemented by the processor 501. The processor 501 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the shovel boot method may be performed by instructions in the form of hardware, integrated logic circuits, or software in the processor 501. The Processor 501 may be a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc. Processor 501 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software module may be located in a storage medium located in the memory 502, and the processor 501 reads the information in the memory 502, and completes the steps of the shovel boot method provided by the embodiment of the present invention in combination with the hardware thereof.
In an exemplary embodiment, the shovel boot Device 500 may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, programmable Logic Devices (PLDs), complex Programmable Logic Devices (CPLDs), FPGAs, general purpose processors, controllers, micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the aforementioned methods.
Based on the hardware implementation of the program modules, and in order to implement the method of the embodiment of the present invention, the embodiment of the present invention further provides a shoveling apparatus, fig. 6 only shows an exemplary structure of the apparatus and not a whole structure, and a part of or the whole structure shown in fig. 6 may be implemented as needed.
As shown in fig. 6, the shovel device 600 according to the embodiment of the present invention includes: at least one processor 601, a memory 602, a user interface 603, at least one network interface 604, a surface space information collection device 606, a position detection device 607, and an angle detection device 608. The various components in the shovel device 600 are coupled together by a bus system 605. It will be appreciated that the bus system 605 is used to enable communications among the components. The bus system 605 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 605 in fig. 6.
The surface spatial information acquisition device 606 may be a depth image acquisition device or a laser array acquisition device, and the depth image acquisition device may be the aforementioned TOF camera 5 or other similar image acquisition equipment. The position detection device 607 may be the RTK receiving antenna 6 described above, and the angle detection device 608 may be the angle sensor 7 described above.
In an exemplary embodiment, the processor 601 may be implemented by one or more ASICs, DSPs, PLDs, CPLDs, FPGAs, general-purpose processors, controllers, MCUs, microprocessors, or other electronic components for performing the aforementioned methods.
It will be appreciated that the memories (memory 502, memory 602) may be either volatile memory or nonvolatile memory, and may include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a magnetic random access Memory (Flash Memory), a magnetic surface Memory, an optical Disc, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), synchronous Static Random Access Memory (SSRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic Random Access Memory (SDRAM), double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (ESDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), synchronous Dynamic Random Access Memory (SLDRAM), direct Memory (DRmb Access), and Random Access Memory (DRAM). The described memory for embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.
In an exemplary embodiment, the embodiment of the present invention further provides a storage medium, specifically a computer storage medium, which may be a computer readable storage medium, for example, a memory that stores a computer program, where the computer program is executable by a processor of the shovel loader guiding apparatus 500 or the shovel loader 600 to perform the steps described in the method of the embodiment of the present invention. The computer readable storage medium may be a ROM, PROM, EPROM, EEPROM, flash Memory, magnetic surface Memory, optical disk, or CD-ROM, among others.
It should be noted that: "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In addition, the technical solutions described in the embodiments of the present invention may be arbitrarily combined without conflict.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A shoveling guiding method of shoveling equipment is characterized by comprising the following steps:
acquiring a grade distribution model and surface space information corresponding to a target pile-explosion, wherein the grade distribution model is used for determining the spatial distribution of different grade areas, and the surface space information is used for determining the surface space distribution of the target pile-explosion;
constructing a three-dimensional model corresponding to the target pile-bursting based on the surface space information and the grade distribution model, wherein the three-dimensional model distinguishes different grade areas corresponding to the target pile-bursting through identification;
acquiring the current corresponding position information of a bucket of the shoveling equipment;
displaying the bucket on a three-dimensional space corresponding to the three-dimensional model based on the position information corresponding to the bucket at present;
the building of the three-dimensional model corresponding to the target blasting pile based on the surface space information and the grade distribution model comprises the following steps:
determining a first model corresponding to the surface space distribution of the target blasting pile based on the surface space information;
superposing different grade areas in the grade distribution model to the first model in different colors based on an augmented reality technology to form the three-dimensional model;
the method further comprises the following steps:
acquiring a shoveling instruction which carries first information representing a target grade area corresponding to the target pile-bursting;
generating navigation information for guiding the bucket based on the first information and the position information corresponding to the bucket at present, wherein the navigation information comprises the following steps: determining an optimal shoveling position of the bucket corresponding to the target grade area based on the current corresponding position information of the bucket; and generating the navigation information on a three-dimensional space corresponding to the three-dimensional model based on the optimal shoveling position.
2. The method of claim 1, further comprising:
and if the current corresponding position information of the bucket exceeds the target grade area, generating out-of-range recording information.
3. The method of claim 1, wherein the obtaining of the current corresponding position information of the bucket of the shoveling equipment comprises:
acquiring pose information of the shoveling equipment and state parameters corresponding to the bucket;
determining position information corresponding to the bucket at present based on the pose information and the state parameters; the pose information comprises position information and a course angle of the shoveling equipment, and the state parameters comprise the length and the rotation angle of a shovel arm of the shovel.
4. A shovel loading guide device of a shovel loading device, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a grade distribution model and surface space information corresponding to a target explosive pile, the grade distribution model is used for determining the spatial distribution of different grade areas, and the surface space information is used for determining the surface space distribution of the target explosive pile;
the modeling module is used for constructing a three-dimensional model corresponding to the target blasting pile based on the surface space information and the grade distribution model, wherein the three-dimensional model distinguishes different grade areas corresponding to the target blasting pile through identification;
the second acquisition module is used for acquiring the current corresponding position information of a bucket of the shoveling equipment;
the display module is used for displaying the bucket on a three-dimensional space corresponding to the three-dimensional model based on the position information corresponding to the bucket at present;
the modeling module is specifically configured to:
determining a first model corresponding to the surface space distribution of the target blasting pile based on the surface space information;
superposing different grade areas in the grade distribution model to the first model in different colors based on an augmented reality technology to form the three-dimensional model;
the third acquisition module is used for acquiring a shoveling instruction, wherein the shoveling instruction carries first information representing a target grade area corresponding to the target pile burst;
a navigation module, configured to generate navigation information for guiding the bucket based on the first information and the current corresponding position information of the bucket, including: determining an optimal shoveling position of the bucket corresponding to the target grade area based on the current corresponding position information of the bucket; and generating the navigation information on a three-dimensional space corresponding to the three-dimensional model based on the optimal shoveling position.
5. A shovel loading guide apparatus, comprising: a processor and a memory for storing a computer program capable of running on the processor, wherein,
the processor, when executing the computer program, is adapted to perform the steps of the method of any of claims 1 to 3.
6. A shoveling apparatus, comprising: a processor and a memory for storing a computer program capable of running on the processor, wherein,
the processor, when executing the computer program, is adapted to perform the steps of the method of any of claims 1 to 3.
7. A storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the steps of the method of any one of claims 1 to 3.
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| CN112380663A (en) * | 2020-04-13 | 2021-02-19 | 青岛慧拓智能机器有限公司 | Method for calculating designated loading point of electric shovel |
| CN111429026B (en) * | 2020-04-14 | 2023-02-07 | 西安热工研究院有限公司 | Method for evaluating performance of electric shovel of strip mine |
| CN114880802B (en) * | 2022-05-19 | 2024-06-04 | 瑞诺(济南)动力科技有限公司 | Remote control method, equipment and medium of flow machine |
| CN115108409A (en) * | 2022-08-03 | 2022-09-27 | 吉林大学 | Automatic tracking system for cable winding and unwinding vehicle of mining shovel |
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