CN113463719B - Autonomous operation control system and method for loader - Google Patents
Autonomous operation control system and method for loader Download PDFInfo
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- CN113463719B CN113463719B CN202110734805.9A CN202110734805A CN113463719B CN 113463719 B CN113463719 B CN 113463719B CN 202110734805 A CN202110734805 A CN 202110734805A CN 113463719 B CN113463719 B CN 113463719B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Operation Control Of Excavators (AREA)
Abstract
The invention relates to a loader shovel loading technology, which aims at solving the problem that the existing loader needs to operate on a machine; the system comprises a loader provided with UWB labels, at least three UWB base stations for determining a plane coordinate system of the UWB base stations, and a data processing module for sending control instructions to a whole vehicle control unit according to the position of the whole vehicle in the plane coordinate system of the UWB base stations and a running route between a material pile and a discharging platform so that the loader runs according to the running route and executes corresponding operation actions at corresponding positions. According to the invention, the position is determined by the UWB tag and the UWB base station, and a control instruction is sent to the whole vehicle control unit based on the position of the whole vehicle and the running route, so that unmanned self-operation of the loader is realized.
Description
Technical Field
The present invention relates to loader shovel loading technology, and more particularly, to a loader autonomous operation control system and method.
Background
As is well known, a loader is a widely used construction machine, and is mainly used for shovel loading operation of materials. In the operation process, the machine has larger jolt and vibration, the driving comfort is poor, and the driver is required to frequently operate the control lever to control the working device when finishing single-cycle shovel loading operation, so that the work is often required to be performed for a plurality of hours in one day, and the damage to joints is very serious when the work is performed for a long time.
The shovel loading operation of the loader has the characteristic of bad operation environment, and has higher technical level requirement on drivers, which inevitably causes difficult work and increased labor cost. With the increasing labor cost and the development of intelligent technology, there is an urgent need to solve the above problems by unmanned autonomous operation.
Disclosure of Invention
The invention aims to solve the technical problem that an existing loader needs to operate on a machine, and provides an autonomous operation control system and an autonomous operation control method for the loader, so that unmanned shovel loading operation of the loader is realized.
The technical scheme for achieving the purpose of the invention is as follows: the utility model provides a loader autonomous operation control system, including the loader, the loader contains the position appearance sensor that is used for detecting the position appearance state of loader; characterized in that the system further comprises:
at least three UWB base stations arranged on a loader operation site, wherein at least three UWB base stations are positioned on the same horizontal plane to determine a UWB base station plane coordinate system;
the loading machine is provided with a data processing module, two vehicle-mounted positioning UWB labels which are arranged at different positions and perform unilateral two-way communication ranging with the UWB base station, and a whole vehicle control unit which controls the loading machine according to a control instruction;
the data processing module is used for determining the position of the whole machine of the outline projection outline of the loader in the plane coordinate system of the UWB base station through the ranging information of the vehicle-mounted positioning UWB tag, the outline dimension and the pose state of the loader, and sending a control instruction to the whole vehicle control unit according to the position of the whole machine, the running route between the material stack and the unloading platform, so that the loader can run according to the running route and execute corresponding operation actions at the corresponding positions.
The coordinate system is determined through a plurality of UWB base stations, the complete machine position of the loader is determined through UWB labels, a control instruction is sent to the complete machine control unit based on the complete machine position and a running route, the loader is enabled to run according to the running route and execute corresponding operation actions at corresponding positions, for example, a shoveling action is completed at a material pile, materials are shoveled into a bucket, unloading is conducted at a unloading platform, and the like, so that unmanned self-operation of the loader is achieved.
In the autonomous operation control system of the loader, four UWB base stations are arranged in a right triangle form to form an X axis and a Y axis of a planar coordinate system of the UWB base stations, and a fourth UWB base station is arranged in a non-coplanar mode with other three UWB base stations, and the distance between the UWB base stations is known. By arranging a plurality of UWB base stations which are not all coplanar, UWB tag ranging is more accurate.
In the autonomous operation control system of the loader, the loader is also provided with an inertial navigation module for calculating the navigation positioning information of the loader based on the initial position in the operation process, and the inertial navigation module and a vehicle-mounted positioning UWB tag on the loader are arranged at the same position; and the data processing module is used for calculating the position of the whole machine of the outline projection outline of the loader in the planar coordinate system of the UWB base station according to the ranging information of the vehicle-mounted positioning UWB tag and the navigation positioning information of the inertial navigation module. And the loader position is positioned by combining the positioning of the inertial navigation module and the ranging positioning of the UWB tag, so that the positioning precision of the loader is improved.
In the autonomous operation control system of the loader, the control system further comprises a stockpile profile calibration device for calibrating the position of the stockpile profile in the UWB base station plane coordinate system; the loader is provided with a first wireless data receiving and transmitting module connected with the data processing module; the stockpile profile calibration device is provided with a stockpile positioning UWB tag for unilateral two-way communication ranging with the UWB base station and a second wireless data transceiver module for transmitting ranging information of the stockpile positioning UWB tag in wireless communication with the first wireless data transceiver module. The position of the stockpile profile calibration device in the plane coordinate system of the UWB base station is determined by the communication ranging of the stockpile positioning UWB tag and the UWB base station, then the stockpile profile calibration device moves along the profile of the stockpile to be shoveled, and the position of the profile of the stockpile to be shoveled in the plane coordinate system of the UWB base station is determined by calibrating the positions of a plurality of points on the profile of the stockpile to be shoveled.
In the autonomous operation control system of the loader, the control system further comprises a discharging platform calibration device for calibrating the position of the discharging platform in the plane coordinate system of the UWB base station, wherein the discharging platform calibration device comprises two discharging positioning UWB labels which are arranged at different positions and used for carrying out unilateral two-way communication ranging with the UWB base station, and a third wireless data transceiver module which is connected with the discharging positioning UWB labels and used for transmitting the ranging information of the discharging positioning UWB labels through wireless communication with the first wireless data transceiver module. The distance between two points on the unloading platform and each UWB base station can be obtained by using two unloading positioning UWB labels, the steering angle of the loader can be detected by combining the geometrical shape of the loader and the pose sensor, and the position of the contour of the loader in the plane coordinate system of the UWB base station can be determined, including the orientation of the loader.
In the autonomous operation control system of the loader, the laser radar for scanning the ground flatness of the driving route and/or the inertial navigation module for detecting the acceleration information of the loader in the vertical direction when the loader is driven on the driving route are arranged on the loader, and the data processing module respectively transmits the driving speed limit control instruction of the loader when the loader is driven on the driving route to the whole vehicle control unit according to the acceleration information or/and the ground flatness. The driving route can be segmented, for example, the driving route comprises a shovel material route and a material conveying route, the laser radar is used for scanning the ground flatness of the material conveying route, the inertial navigation module is used for detecting acceleration information of the loader in the vertical direction when the loader drives on the shovel material route, and the data processing module respectively transmits driving speed limit control instructions of the loader when the loader drives on the shovel material route and the material conveying route to the whole vehicle control unit according to the acceleration information and the ground flatness.
The technical scheme for achieving the purpose of the invention is as follows: the autonomous operation control method of the loader is characterized by comprising the following steps:
determining a UWB base station plane coordinate system by utilizing at least three UWB base stations arranged on an operation site;
planning a driving route between a material pile and a discharging platform when the loader operates autonomously according to the positions of the material pile and the discharging platform in a UWB base station plane coordinate system;
determining the position of the whole machine of the contour projection outline of the loader in a plane coordinate system of the UWB base stations through the ranging information of the vehicle-mounted positioning UWB tag and each UWB base station on the loader and the contour dimension and the pose state of the loader;
and sending a control instruction to the whole vehicle control unit according to the position of the whole vehicle and the running route to enable the loader to run according to the running route and execute corresponding operation actions at the corresponding position.
According to the invention, the position of the whole loader in the plane coordinate system of the UWB base station is determined through the vehicle-mounted positioning UWB tag on the loader and the ranging information of each UWB base station, so that the relative position relation between the loader and the material stack and the unloading platform is determined, the loader is controlled according to a program to finish the shovel loading operation and the related actions of transportation according to a preset route, and unmanned operation is realized.
According to the automatic operation control method of the loader, whether the bucket contacts materials is identified according to the relative positions of the material pile and the whole machine in the UWB base station plane coordinate system and the working parameters of the loader, when the loader is in a shovel loading preparation state according to the working parameters of the loader, and the front end of the outline projection outline of the loader in the UWB base station plane coordinate system is intersected with the outline of the material pile or the distance between the outline of the loader and the outline of the outline is smaller than a preset value, the shovel loading operation instruction is identified as the bucket contacts materials, and the shovel loading operation instruction is sent to the whole vehicle control unit. When the loader shovels materials, after the bucket is inserted into the materials, the bucket is required to be retracted and the movable arm is lifted, so that the bucket loading operation of the materials is completed. When the bucket is inserted into the material, the bucket is started to be retracted and the movable arm is lifted, and the time is very critical, so that the working efficiency and the full bucket rate of the loader are affected. According to the invention, whether the bucket contacts materials is identified through the relative position between the front end of the projection profile of the appearance of the loader and the profile of the material pile and the working parameters of the loader, and the bucket is automatically taken in and lifted at proper time, so that the working efficiency and the full bucket rate of the loader are ensured.
In the autonomous operation control method of the loader, the acceleration information and/or the ground flatness information of the loader in the vertical direction when the loader runs on a running route between the stockpile and the unloading platform are detected; and sending a driving speed limit value instruction of the loader on a driving route in each subsequent operation cycle to the whole vehicle control unit according to the acceleration information and/or the ground flatness information. By detecting acceleration information and/or ground flatness information, the bumping degree of the loader on a running route is determined, reasonable running speed is determined, serious material scattering and machine damage caused by excessive bumping of the loader due to too high running speed are avoided, meanwhile, the speed of the loader is kept as high as possible, and the operation efficiency is ensured. Further, the driving route comprises a shoveling route and a material conveying route; detecting acceleration information in the vertical direction when the operation cycle loader runs on the shovel material route each time, and sending a running speed limit value instruction of the loader on the shovel material route in the next operation cycle to the whole vehicle control unit according to the acceleration information; the method comprises the steps of obtaining ground flatness information of a material conveying path, sending a running speed limit value instruction of a loader on the material conveying path in each subsequent operation cycle to a whole vehicle control unit according to the ground flatness information, or detecting the ground flatness of the material conveying path after each operation cycle for a preset number of times, and determining a material conveying running speed limit value of the loader on the material conveying path in the subsequent operation cycle according to the obtained ground flatness. The shovel material route is close to the stockpile, the road surface is inconvenient to scan, acceleration information in the vertical direction can be detected to represent the bumping degree of the machine, and when the shovel is carried out each time, the loader idles due to shovel material resistance, a new pit is cut out on the ground or the depth of the pit is deepened, the acceleration information is detected in the vertical direction when the operation cycle loader runs on the shovel material route each time, and the running speed limit value of the loader on the shovel material route in the next operation cycle is determined according to the acceleration information. On the material conveying path, the road surface condition has little change, so that the ground flatness can be detected once again after a plurality of operations are carried out, the running speed limit value of the loader on the material conveying path in a plurality of operation cycles can be determined according to the flatness detection, the ground flatness can be detected in each operation cycle, and the running speed limit value of the loader on the material conveying path in the next operation cycle can be determined according to the ground flatness. The ground flatness detection can scan the ground by using a laser radar, calculate the average value of the height differences of two adjacent scanning points in sequence to represent the ground flatness, and also can use an inertial navigation module to detect the acceleration information of the loader in the vertical direction, and represent the ground flatness by calculating the average value of the acceleration.
Compared with the prior art, the invention determines the coordinate system through a plurality of UWB base stations, determines the position of the whole machine of the loader through the UWB tag, sends a control instruction to the whole-machine control unit based on the position of the whole machine and a running route to enable the loader to run according to the running route and execute corresponding operation actions at corresponding positions, for example, the shovel loading action is completed at a material pile to enable materials to be shoveled into a bucket, the unloading is performed at an unloading platform, and the like, thereby realizing unmanned autonomous operation of the loader.
Drawings
FIG. 1 is a schematic view of a loader operation scenario of the present invention.
Fig. 2 is a schematic diagram of a UWB base station coordinate system.
Fig. 3 is a schematic diagram of communication between a UWB base station and a UWB tag.
Fig. 4 is a schematic view of the mounting of a lidar on a loader.
Part names and serial numbers in the figure:
the system comprises a UWB base station 1, a loader 2, a data processing and display module 21, a vehicle-mounted positioning UWB tag 22, an inertial navigation module 23, a whole vehicle control unit 24, a wireless data transceiver module 25, a stockpile 3, a discharging platform 4, a discharging positioning UWB tag 41, a wireless data transceiver module 42, a stockpile profile calibration device 5, a stockpile positioning UWB tag 51, a wireless data transceiver module 52 and a laser radar 7.
Detailed Description
The following describes specific embodiments with reference to the drawings.
The invention relates to an autonomous operation control system of a loader, which comprises four UWB base stations 1, a loader 2 and a stockpile profile calibration device 5.
As shown in fig. 1, UWB base stations 1 are disposed around a loader operation site, wherein three UWB base stations are located on the same horizontal plane, and form an X-axis and a Y-axis of the operation site, forming a UWB base station plane coordinate system. The other UWB base station is positioned non-coplanar with the other three UWB base stations, each of which has a known mutual distance. The working site is provided with a material pile 3 to be shoveled, a discharging platform 4 and the like.
The loader is provided with a front frame and a rear frame, the front frame and the rear frame can rotate relatively, and the loader is turned by the relative rotation of the front frame and the rear frame.
Two UWB labels which are used for carrying out two-way communication ranging with the UWB base station are arranged on the loader, the two UWB labels are vehicle-mounted positioning UWB labels 22, the two vehicle-mounted positioning UWB labels are arranged at two different positions of the loader (projections on the working surface are in different positions), and a certain distance is reserved between the two vehicle-mounted positioning UWB labels. The vehicle-mounted positioning UWB tag 22 obtains the ranging information of the two vehicle-mounted positioning UWB tags and each UWB base station by performing two-way communication ranging with the UWB base stations, and can calculate the distance and the orientation of the loader 2 relative to each UWB base station 1 according to the ranging information on the two points (the mounting positions of the vehicle-mounted positioning UWB tag) of the loader.
As shown in fig. 3, the loader 2 is further provided with a data processing and display module 21 (formed by integrating the data processing module and the display module), an inertial navigation module 23, a wireless data transceiver module 25, a pose sensor (not shown in the figure), and a vehicle control unit 24. The vehicle-mounted positioning UWB tag 22, the inertial navigation module 23, the wireless data transceiver module 25 and the vehicle-mounted control unit 24 are connected with the data processing and display module 21, and the data processing and display module 21 acquires detection data of the pose sensor.
The inertial navigation module 23 is installed at the same position as one of the two vehicle-mounted positioning UWB tags 22, and is used for calculating the track and heading of the loader based on the initial position in the working process. The inertial navigation module 23 and the vehicle-mounted positioning UWB tag 22 are used for carrying out combined positioning on the loader, and the positioning data of the inertial navigation module 23 and the vehicle-mounted positioning UWB tag 22 are subjected to data fusion by the data processing and display module 21 according to a certain mode to obtain the specific position of the loader in the UWB base station coordinate system.
The pose sensor comprises a steering angle sensor for detecting the relative rotation angle of the front frame and the rear frame of the loader, a movable arm sensor for detecting the rotation angle of the movable arm and a rotating bucket sensor for detecting the rotation angle of the bucket.
As shown in fig. 3, the stockpile profile calibration device 5 in this embodiment is used for positioning the stockpile profile, and is a remote control device, such as a remote control unmanned plane or a remote control trolley, on which a wireless data transceiver module 52 and a UWB tag for performing two-way communication ranging with a UWB base station are disposed, and the UWB tag is a stockpile positioning UWB tag 51.
The material pile positioning UWB label 51 is connected with the wireless data receiving and transmitting module 52, the material pile profile calibration device 5 is remotely controlled by a remote controller, the material pile positioning UWB label 51 can be remotely controlled by the remote controller to perform unilateral two-way communication distance measurement with the UWB base station 1, distance measurement information is sent to the wireless data receiving and transmitting module 25 on the loader by the wireless data receiving and transmitting module 52, and then the distance measurement information is further transmitted to the data processing and displaying module 21 on the loader, and the position of the material pile positioning UWB label 51 is calculated by the data processing and displaying module 21.
The data processing and displaying module 21 is used for collecting ranging information including the material pile positioning UWB tag 51 and the vehicle-mounted positioning UWB tag 22, positioning information of the inertial navigation module 23, data of a pose sensor and working parameters of loader operation, processing the collected data, calculating positions and projection outlines of the loader 2 and the material pile 3 in a UWB base station plane coordinate system, and graphically displaying the projection outlines of the positioning object in an x-axis coordinate plane and a y-axis coordinate plane according to a certain proportion by taking the left lower corner of the displaying module as an origin of coordinates.
Before the shovel loading operation starts, the outline of the stockpile is positioned, the distance between the stockpile positioning UWB label and each UWB base station is calculated according to the distance between the stockpile positioning UWB label and each UWB base station by the data processing and display module 21, and then the position of the stockpile positioning UWB label is calculated according to the distance between the stockpile positioning UWB label and each UWB base station and is stored. When the positioning of one positioning point is finished, an indicator lamp or a display text prompt exists on the remote controller, the data of the finished positioning points can be withdrawn one by one through a withdrawal button on the remote controller, and meanwhile, the number of the current effective positioning points can be displayed on the remote controller. After the single point positioning is finished, a plurality of point positioning is sequentially carried out around the material pile, the positions of a plurality of positioning points in the UWB base station plane coordinate system are connected into a closed interval to approximately represent the outline of the material pile, and the closed interval is displayed on a data processing and displaying module according to a certain display proportion.
As shown in fig. 3, the unloading platform 4 may be a freight truck, and the loader is transported to the unloading platform 4 for unloading after the material is shoveled from the material pile 3 for autonomous operation, and the unloading is performed in the freight truck. The unloading platform 4 is provided with a wireless data transceiver module 42 and two UWB labels which are used for carrying out two-way communication ranging with a UWB base station, and the UWB labels are unloading positioning UWB labels 41. The two unloading positioning UWB labels 41 are arranged at different positions, a certain distance is reserved between the two unloading positioning UWB labels 41, the unloading positioning UWB labels 41 are connected with the wireless data transceiver module 42, and the distance and the orientation of the unloading platform relative to each UWB base station 1 can be calculated according to the ranging information on two points (the unloading positioning UWB label installation positions) on the unloading platform, so that the position of the unloading platform in the UWB base station plane coordinate system is determined.
As shown in fig. 4, a laser radar 7 is provided at the tail of the loader, and the laser radar 7 detects the flatness of the ground as a ground flatness detecting device. The data processing module controls the laser radar to scan the ground, processes the data of the laser radar, and represents the flatness of the running pavement by the average value of the height differences of two adjacent scanning points in the running direction and stores the flatness.
The operating parameters of the loader 2 include, but are not limited to, the rotational speed of the engine or motor powering the loader, the gear, etc., by which the direction of travel of the loader can be determined.
In the invention, the loader is driven to a material pile, in the identification process of judging whether the bucket is contacted with materials, the loader 2 is combined and positioned through the vehicle-mounted positioning UWB tag 22 and the inertial navigation module 23, the pose of the loader is detected through the pose sensor, then the data is gathered to the data processing and displaying module 21 in a wireless or wired mode, and the data processing and displaying module 21 combines the positioning data, the pose data and the outline dimension of the loader and the installation position of the vehicle-mounted positioning UWB tag to calculate the outline projection outline of the loader in the UWB base station plane coordinate system, and the outline projection outline is approximately represented by two rectangular frames of the front frame and the rear frame.
In the working process of the loader, the vehicle-mounted positioning UWB labels periodically and sequentially send ranging requests to all UWB base stations, ranging information is obtained through unilateral two-way ranging, and then the positions of all the vehicle-mounted positioning UWB labels are calculated through a data processing and display module. Meanwhile, the inertial navigation module calculates the track and the course of the loader in real time, the position of the loader can be positioned by combining the initial position and the track course information, the data processing and displaying module fuses the positioning data of the vehicle-mounted positioning UWB tag and the positioning data of the inertial navigation module in a certain mode to obtain a final positioning position, and then the projection outline of the loader is approximately represented by two rectangular frames of the front frame and the rear frame in a plane coordinate system of the UWB base station according to the mounting position of the vehicle-mounted positioning UWB tag, the pose (the relative rotation angle of the front frame and the rear frame) and the outline size of the loader, as shown in fig. 2.
The whole vehicle control unit of the loader is internally provided with an autonomous operation control program, and various working parameters of the loader and the position of the loader are acquired through various sensors, so that the loader is controlled to run according to a running route and the shovel loading is automatically completed. The method for controlling the running speed of the loader comprises the following steps:
depending on the stack, the discharge platform and the job site situation, a first route 62 of the loader from the docking point to the stack and a second route of the stack to the discharge platform are planned. The planning of the driving route can be manually defined on the upper computer, the planned driving route is downloaded to the loader, and the data processing module of the loader can also automatically and intelligently plan the driving route.
The second route is provided with a demarcation point A, the route between the demarcation point A and the material pile on the second route is a shoveling route 63, and the route between the demarcation point A and the unloading platform is a material conveying route 64. The shoveling path 63 coincides with a portion of the first path 62 close to the pile 3. The distance between the demarcation point a and the pile is typically a predetermined value, for example, when the front end of the loader is a distance of one body from the edge of the pile profile, the location of the lidar 7 is the location of the demarcation point, i.e. the distance of the demarcation point from the pile profile is the distance of two loader body lengths.
The whole vehicle control unit controls the loader to drive to the material pile 3 according to the first route 62 from the stop point 61, starts the first operation circulation, drives to the unloading platform 4 according to the second route after the loader finishes shoveling the material at the material pile, drives to the material pile according to the second route 64 after the unloading is finished, and returns to the demarcation point A to complete the first operation circulation. The subsequent operation cycle comprises that the loader is driven to a material pile according to a shoveling route 63 by a demarcation point A, after shoveling, the loader is driven to a discharging platform (sequentially and forward to the discharging platform) according to a material conveying route 64 after the shoveling route 63 is retreated by the demarcation point A, after discharging, the loader is retreated again and reverse to the material pile, and one subsequent operation cycle is completed when the shovel reaches the demarcation point. The subsequent work cycle is repeated until the work is stopped or the route is changed.
In the first working cycle, the whole vehicle control unit controls the loader to drive on the shovel material route according to the shovel material speed set value Vcs as an upper limit target speed, and controls the loader to drive on the material conveying route according to the material conveying speed set value Vts as an upper limit target speed. The shovel speed set point Vcs can be a fixed value or can be set to different values according to different positions of the loader on the route. The set value Vts of the same-order material transporting speed can be a fixed value or can be set to different values according to different positions of the loader on the route.
When the loader performs the first operation cycle, the loader drives to the material pile on the shoveling route from the demarcation point (shoveling going), and returns to the demarcation point according to the shoveling route 63 after the shoveling is finished (shoveling return). In the first working cycle, the whole vehicle control unit controls the speed of the loader according to the shovel speed set value Vcs as an upper limit target speed. The inertial navigation module 23 measures acceleration of the loader in the vertical direction on the shoveling travel and the shoveling return, and represents the bumpy degree of the road surface of the road section by the average value of the acceleration, and stores the bumpy degree. The acceleration of the loader in the vertical direction is measured, and the acceleration can be measured only in the shoveling travel, can be detected in the shoveling return stroke, or can be detected in both the shoveling travel and the shoveling return stroke.
After the loader shovel is finished, the loader shovel runs over the demarcation point (does not stay at the demarcation point) according to the shovel material route and runs to the unloading platform (material transporting and going out) according to the material transporting route 64, and after the unloading is finished, the unloading platform runs to the demarcation point (material transporting and returning) according to the material transporting route. In the first working cycle, the whole vehicle control unit controls the loader to run at the upper limit target speed by taking the material conveying speed set value Vts.
And scanning the flatness of the ground of the material conveying route by using a laser radar on the material conveying forward and material conveying return. The data processing module controls the laser radar to scan the ground, collects and processes the scanning data of the laser radar, and represents the flatness of the running pavement by the average value of the height differences of two adjacent scanning points in the running direction and stores the flatness.
The ground flatness on the material conveying route can be scanned only in the process of conveying the material, can be scanned in the process of conveying the material and returning, or can be scanned in the processes of conveying the material and returning. When the distance between the material pile and the unloading platform is short, namely the material conveying route is short, the route of the material conveying route and the route of the material conveying return route are basically coincident, and the material conveying route and the material conveying return route can be scanned only once in the process of conveying the material conveying route or the material conveying return route. If the material conveying route is longer, the route of the material conveying route and the route of the material conveying return route may only partially overlap, and at this time, the ground scanning can be performed on both the material conveying route and the material conveying return route so as to obtain the complete material conveying route condition. After the laser radar finishes scanning the material conveying path, the data processing module determines a material conveying speed adjusting value Vtr according to the average value of the height difference, and the Vtr is in direct proportion to the average value of the height difference.
After the first working cycle is completed, in the next working cycle, determining the shovel material running speed limit value of the loader on the shovel material route in the next working cycle according to the acceleration information detected in the previous working cycle. Shovel travel speed limit vc=vcs-Vcr, where Vcs is a shovel speed set point, vcr is a shovel speed adjustment value, and Vcr is proportional to the average of the accelerations detected last time. And detecting the acceleration of the loader in the vertical direction in each working cycle, and taking the previous acceleration information as a determination basis for determining the shovel material running speed limit value in the next working cycle.
Detecting acceleration information in the vertical direction when the loader runs on a shovel material route, and determining a shovel material running speed limit value of the loader on the shovel material route in the next operation cycle according to the detected acceleration information each time; detecting the ground flatness of the material conveying path when the loader first runs on the material conveying path, and determining the material conveying running speed limit value of the loader on the material conveying path in the subsequent operation cycle according to the detected ground flatness; the method comprises the steps of obtaining the height difference of two adjacent scanning points in the running direction of a material conveying route and calculating the average value of the height differences, wherein Vts is a material conveying speed set value, vtr is a material conveying speed regulating value, and the ground flatness detection of the material conveying route comprises the steps of obtaining the height difference of two adjacent scanning points in the running direction of the material conveying route and calculating the average value of the height difference of each height difference, and Vtr is in direct proportion to the average value of the height difference.
And the whole loader control unit controls the running of the loader by taking the shovel running speed limit value and the material running speed limit value as the upper limit target speed of the loader running on the shovel route and the material running route respectively.
When the loader is driven on the material conveying route again after the loader completes a plurality of working cycles, the laser radar scans the ground of the material conveying route again, calculates the average value of the height differences of two adjacent scanning points, determines a material conveying speed regulating value Vtr in the plurality of working cycles according to the average value so as to determine a material conveying driving speed limit value in the plurality of working cycles, and controls the loader to drive on the material conveying route by taking the newly determined material conveying driving speed limit value as an upper limit target speed in the plurality of working cycles.
In the invention, when the loader operates autonomously, when the loader drives to a material pile, the data processing module of the loader determines the position of the outline projection outline of the loader 2 in the plane coordinate system of the UWB base station according to the ranging information of the two vehicle-mounted positioning UWB labels 22 and each UWB base station on the loader and the outline dimension and pose state of the loader; when the distance between the loader and the material pile is smaller than a preset value, the whole control unit of the loader controls the action device to act, so that the bucket is flatly placed on the ground, and a shovel loading preparation action is performed.
When the bucket is inserted into the material, the loader is stopped from advancing by the material resistance. When the working device of the loader is in a shovel loading preparation state, namely the rotating speed of an engine or a motor for providing power for the loader is not zero, the loader is in a forward state (the gear of the loader is a forward gear), and when the data processing and display module detects that the front end of a front frame rectangular frame of the outline projection outline of the loader intersects with the outline projection outline of a material pile or the distance is smaller than a certain value and the continuous multiple positioning positions of the loader have no obvious change, the shovel bucket of the loader is judged to be inserted into the material, and then the data processing and display module sends a control instruction to a control unit on the loader to control the loader to complete the preset shovel loading action, namely the actions of collecting the shovel bucket and lifting the movable arm are completed. The working device of the loader is in a shovel preparation state, the data processing and displaying module detects the postures of the movable arm and the bucket through the posture sensor, and when the bucket is in a ground-attached flat state, the working device is considered to be in the shovel preparation state.
The whole-vehicle control unit controls the loader to perform bucket-collecting and lifting actions to finish the bucket-loading actions of materials, so that the bucket is in a complete bucket-collecting state and has a certain gap from the ground, and the materials are conveniently transported.
After the shovel material is finished, the whole vehicle control unit controls the loader to drive to the unloading platform according to the planned driving route, and when the distance between the loader and the unloading platform is smaller than a preset value, the whole vehicle control unit controls the working device to lift the movable arm, so that unloading preparation is performed.
When the distance between the loader and the unloading platform is smaller than a preset value, the whole vehicle control unit controls the working device to carry out bucket unloading, and after unloading is finished, the loader is controlled to retreat and lower the unloading arm, so that the loader is adjusted to a running state and is driven to a material pile according to a planned running route, and the next operation cycle is executed.
Claims (8)
1. An autonomous operation control system of a loader comprises the loader, wherein the loader comprises a pose sensor for detecting the pose state of the loader; characterized in that the system further comprises:
at least three UWB base stations arranged on a loader operation site, wherein at least three UWB base stations are positioned on the same horizontal plane to determine a UWB base station plane coordinate system;
the loading machine is provided with a data processing module, two vehicle-mounted positioning UWB labels which are arranged at different positions and perform unilateral two-way communication ranging with the UWB base station, and a whole vehicle control unit which controls the loading machine according to a control instruction;
the data processing module is used for determining the position of the whole machine of the outline projection outline of the loader in the plane coordinate system of the UWB base station through the ranging information of the vehicle-mounted positioning UWB tag, the outline dimension and the pose state of the loader, and sending a control instruction to the whole vehicle control unit according to the position of the whole machine, a planned running route between the material stack and the unloading platform, so that the loader can run according to the running route and execute corresponding operation actions at the corresponding positions;
the loader is provided with a laser radar for scanning the ground flatness of a running route in the first operation cycle process and/or an inertial navigation module for detecting acceleration information of the loader in the vertical direction when running on the running route, and the data processing module respectively transmits a running speed limit value instruction of the loader on the running route in each subsequent operation cycle to the whole vehicle control unit according to the acceleration information or/and the ground flatness.
2. The autonomous operating control system for a loader of claim 1, wherein the four UWB base stations are arranged in a right triangle to form an X-axis and a Y-axis of a plane coordinate system of the UWB base stations, and the fourth UWB base station is arranged non-coplanar with the other three UWB base stations, and a distance between each UWB base station is known.
3. The autonomous operation control system of the loader according to claim 1, wherein the loader is further provided with an inertial navigation module for calculating the navigation positioning information of the loader based on the initial position in the operation process, and the inertial navigation module is arranged at the same position with a vehicle-mounted positioning UWB tag on the loader; and the data processing module is used for calculating the position of the whole machine of the outline projection outline of the loader in the planar coordinate system of the UWB base station according to the ranging information of the vehicle-mounted positioning UWB tag and the navigation positioning information of the inertial navigation module.
4. The autonomous operating control system of claim 1, wherein the control system further comprises a pile profile calibration device for calibrating the position of the pile profile in the UWB base station planar coordinate system; the loader is provided with a first wireless data receiving and transmitting module connected with the data processing module; the stockpile profile calibration device is provided with a stockpile positioning UWB tag for unilateral two-way communication ranging with the UWB base station and a second wireless data transceiver module for transmitting ranging information of the stockpile positioning UWB tag in wireless communication with the first wireless data transceiver module.
5. The autonomous operating control system of a loader of claim 1, wherein the control system further comprises a discharge platform calibration device for calibrating the position of the discharge platform in the planar coordinate system of the UWB base station, the discharge platform calibration device comprising two discharge positioning UWB tags mounted at different positions for single-sided two-way communication ranging with the UWB base station, and a third wireless data transceiver module connected to the discharge positioning UWB tags and in wireless communication with the first wireless data transceiver module for transmitting the ranging information of the discharge positioning UWB tags.
6. The autonomous operation control method of the loader is characterized by comprising the following steps of:
determining a UWB base station plane coordinate system by utilizing at least three UWB base stations arranged on an operation site;
planning a driving route between a material pile and a discharging platform when the loader operates autonomously according to the positions of the material pile and the discharging platform in a UWB base station plane coordinate system;
determining the position of the whole machine of the contour projection outline of the loader in a plane coordinate system of the UWB base stations through the ranging information of the vehicle-mounted positioning UWB tag and each UWB base station on the loader and the contour dimension and the pose state of the loader;
transmitting a control instruction to the whole vehicle control unit according to the position of the whole vehicle and the running route to enable the loader to run according to the running route and execute corresponding operation actions at the corresponding position;
detecting acceleration information and/or ground flatness information in the vertical direction when the loader runs on a running route between a stockpile and a discharging platform in the first operation cycle process; and sending a driving speed limit value instruction of the loader on a driving route in each subsequent operation cycle to the whole vehicle control unit according to the acceleration information and/or the ground flatness information.
7. The autonomous operation control method of a loader according to claim 6, wherein whether the bucket contacts the material is recognized based on the relative positions of the stockpile and the whole machine in the plane coordinate system of the UWB base station and the loader operating parameter, and when the loader is estimated to be in a shovel loading preparation state based on the loader operating parameter and the front end of the projected outline of the loader in the plane coordinate system of the UWB base station intersects with the outline of the stockpile or the distance is smaller than a predetermined value, the shovel loading operation command is recognized as the bucket contacts the material and sent to the whole-vehicle control unit.
8. The autonomous operation control method of a loader according to claim 6, wherein the travel route includes a shovel route and a carry route; detecting acceleration information in the vertical direction when the operation cycle loader runs on the shovel material route each time, and sending a running speed limit value instruction of the loader on the shovel material route in the next operation cycle to the whole vehicle control unit according to the acceleration information; the method comprises the steps of obtaining ground flatness information of a material conveying path, sending a running speed limit value instruction of a loader on the material conveying path in each subsequent operation cycle to a whole vehicle control unit according to the ground flatness information, or detecting the ground flatness of the material conveying path after each operation cycle for a preset number of times, and determining a material conveying running speed limit value of the loader on the material conveying path in the subsequent operation cycle according to the obtained ground flatness.
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| CA2578244C (en) * | 2004-09-01 | 2011-01-18 | Siemens Energy & Automation, Inc. | Method for an autonomous loading shovel |
| CN203129233U (en) * | 2013-01-30 | 2013-08-14 | 长安大学 | Device optimizing working path of electric control loader |
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| CN107323454B (en) * | 2017-08-03 | 2023-07-14 | 鄂尔多斯市普渡科技有限公司 | Unmanned vehicle speed adjusting device and adjusting method based on road surface flatness |
| JP7216472B2 (en) * | 2017-10-04 | 2023-02-01 | 株式会社小松製作所 | Working system and control method |
| JP6946234B2 (en) * | 2018-04-27 | 2021-10-06 | 株式会社小松製作所 | Control device and control method for loading machine |
| CN110965597B (en) * | 2019-12-17 | 2022-02-15 | 广西柳工机械股份有限公司 | Automatic shovel loading triggering method, automatic shovel loading triggering device and loader |
| CN111364539A (en) * | 2020-04-14 | 2020-07-03 | 杭州登元科技有限公司 | Pure electric drive unmanned coal pusher |
| CN111733920B (en) * | 2020-06-30 | 2021-03-09 | 北京建工环境修复股份有限公司 | Intelligent feeding control system and control method thereof |
| CN112211248A (en) * | 2020-10-26 | 2021-01-12 | 吉林大学 | Loader and autonomous shovel loading control method thereof |
| CN112609756B (en) * | 2020-12-02 | 2022-04-05 | 山推工程机械股份有限公司 | Control system of loader and loader |
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Effective date of registration: 20240507 Address after: 545007 the Guangxi Zhuang Autonomous Region Liuzhou City Liu Tai Road No. 1 Patentee after: GUANGXI LIUGONG MACHINERY Co.,Ltd. Country or region after: China Patentee after: Guangxi Liugong Yuanxiang Technology Co.,Ltd. Address before: 545007 the Guangxi Zhuang Autonomous Region Liuzhou City Liu Tai Road No. 1 Patentee before: GUANGXI LIUGONG MACHINERY Co.,Ltd. Country or region before: China |