CN118674891B - A method, product, medium and equipment for selecting unloading position of mining vehicle - Google Patents
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Abstract
本发明公开了一种矿山车辆卸载位置选取方法、产品、介质及设备，方法包括步骤：S1、获取预设卸载点周边点云数据；S2、从预设卸载点周边点云数据中提取挡墙边界线；S3、通过滑竿模型计算每一个滑动位置的停车代价，以停车代价最低的滑动点作为最优卸载位置；其中滑竿模型与挡墙边界线组成一个封闭区域，以此封闭区域的面积作为停车代价。本发明通过使用Alpha‑Shape非栅格化方法提取挡墙边界线，能够对含有凹形点云处理，获得准确的挡墙边界线；采用滑竿模型计算每一个滑动位置的停车代价，能够在不规则挡墙中选取合适的停车卸载位置，整体方法操作简便且卸载位置选取精准快速。
The present invention discloses a method, product, medium and equipment for selecting a mining vehicle unloading position, the method comprising the steps of: S1, obtaining point cloud data around a preset unloading point; S2, extracting a retaining wall boundary line from the point cloud data around the preset unloading point; S3, calculating the parking cost of each sliding position through a sliding rod model, and taking the sliding point with the lowest parking cost as the optimal unloading position; wherein the sliding rod model and the retaining wall boundary line form a closed area, and the area of the closed area is used as the parking cost. The present invention extracts the retaining wall boundary line by using the Alpha‑Shape non-rasterization method, and can process the concave point cloud to obtain an accurate retaining wall boundary line; the sliding rod model is used to calculate the parking cost of each sliding position, and a suitable parking and unloading position can be selected in an irregular retaining wall. The overall method is easy to operate and the unloading position selection is accurate and fast.
Description
Technical Field
The invention mainly relates to the technical field of mining vehicles, in particular to a mining vehicle unloading position selection method, a product, a medium and equipment.
Background
There is a scenario where mining truck operations require the dumping of stripped earth into a dumping area. The soil material retaining wall with the height of about 1.5m and the thickness of about 1m is arranged in the soil discharging area, and the mine clamp needs the rear wheel to be close to the retaining wall to incline the carried materials to the outside of the retaining wall. Through actual operation, the rear wheel is found to face the following difficulties near the retaining wall:
(a) The operation area is updated frequently, and the unloading parking position cannot be designated offline.
Due to the advancing of the operation, the unloading retaining wall surface is advanced and dynamically advanced, so that the unloading stopping position cannot be formulated by using an offline method such as a static map and the like. It is therefore necessary to construct a map in real time, from which to find the appropriate unloading point.
(B) Irregular retaining wall
As shown in fig. 1, the reason for the irregular retaining wall is that on one hand, a bulldozer is difficult to work to generate a relatively straight retaining wall, on the other hand, the loading unloading is incomplete, and part of materials are left in the retaining wall surface. The traditional method for searching the parking position needs to calculate the angle of the whole retaining wall first, and then unloading is carried out according to the angle of the retaining wall. However, due to the irregularity of the retaining wall, the mining truck cannot always completely lean on the retaining wall depending on the angle of the integral retaining wall.
(C) The stone is easy to be left in front of the retaining wall
The main reason is that when the previous car is unloaded, the stone rolls down to the parking area, if the stone is uniformly parked according to the parking obstacle, the utilization of the soil discharging point is insufficient, and the operation efficiency of the mine truck is reduced.
Disclosure of Invention
Aiming at the technical problems existing in the prior art, the invention provides a mining vehicle unloading position selection method, a product, a medium and equipment, which are simple and convenient to operate and accurate and rapid in unloading position selection.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a mining vehicle unloading position selection method comprises the following steps:
s1, acquiring peripheral point cloud data of a preset unloading point;
s2, extracting a retaining wall boundary line from the cloud data of the peripheral points of the preset unloading point;
s3, calculating the parking cost of each sliding position through a sliding rod model, and taking the sliding point with the lowest parking cost as the optimal unloading position; the sliding rod model and the retaining wall boundary line form a closed area, and the area of the closed area is used as parking cost;
The specific process of step S3 is as follows:
Sliding a sliding rod with the length of the vehicle width by a fixed step length d from the head to the tail, and calculating the parking cost of each sliding point; storing the position corresponding to the minimum parking cost and the minimum parking cost in the sliding process; and if the minimum parking cost is smaller than the parkable threshold N, the minimum parking cost position is taken as the optimal unloading position.
Preferably, the area of the closed area is calculated by adopting a discrete integration mode, and the calculating mode of the area A of the closed area is as follows:
Wherein:
a represents the area of a closed area of a graph formed by a retaining wall boundary line and a sliding rod model;
l1 represents the starting point of the slide rod model;
L2 represents the end point of the slide rod model;
Representing the unit area formed by the boundary line of the retaining wall and the sliding rod;
The unit area formed by the sliding rod and the x axis is shown;
S represents And (3) withAnd (3) summing.
Preferably, in calculating the parking cost, if the stone obstacle intrudes into the vehicle safety envelope, the lateral distance between the stone obstacle and the vehicle is calculated, and the lateral distance is multiplied by the gain parameter to compensate for the parking cost.
Preferably, after step S3, step S4 is further included: and checking the optimal unloading position.
Preferably, a maximum traversing distance checking method or/and a parking attitude angle deviation checking method is/are adopted to check the optimal unloading position;
the maximum traversing distance checking method comprises the following steps: the distance projection of the optimal unloading position and the original unloading position to the x-axis component is required to be smaller than a preset distance threshold;
the parking attitude angle deviation checking method comprises the following steps: the absolute value of the difference between the distance course angle of the optimal unloading position and the original unloading position is required to be smaller than a preset angle threshold value;
Wherein the original unloading position is a pre-designated unloading position without taking into account the shape of the retaining wall.
Preferably, in step S2, a delta-Shape algorithm based on delaunay triangulation is used to extract the retaining wall boundary line.
Preferably, the specific process of extracting the retaining wall boundary line by adopting the Alpha-Shape algorithm based on the deluxe triangle network is as follows:
Constructing a Dellon triangle network, calculating the radius r of a circumscribed circle of a triangle in the Dellon triangle network, reserving a triangle with r < Alpha by utilizing the empty circle characteristic in the Dellon triangle network, screening Dellon triangle sides conforming to Alpha-Shape to determine Alpha-Shape, traversing all triangles in the Alpha-Shape, and taking a boundary side if the adjacent sides do not belong to the sides of the Alpha-Shape; where α is a preset radius.
The invention also discloses a computer program product comprising a computer program which, when run by a processor, performs the steps of the method as described above.
The invention further discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, performs the steps of the method as described above.
The invention also discloses a computer device comprising a memory and a processor connected to each other, the memory having stored thereon a computer program which, when run by the processor, performs the steps of the method as described above.
Compared with the prior art, the invention has the advantages that:
the mining vehicle unloading position selection method is mainly applied to a scene that an automatic driving vehicle has irregular obstacles at a parking end point; the retaining wall boundary line is extracted by using an Alpha-Shape non-rasterization method, so that the concave point cloud can be processed to obtain an accurate retaining wall boundary line; the sliding rod is adopted to calculate the parking cost of each sliding position, a proper parking unloading position can be selected from the irregular retaining wall, so that ore clamps can be guaranteed to discharge materials to the position below the retaining wall as much as possible, and the retaining wall can be parked in a scene with some obstacles. The method is simple and convenient in overall operation, and the unloading position selection is accurate and rapid.
Drawings
Fig. 1 is a schematic view of an irregular retaining wall structure according to the prior art.
Fig. 2 is a flowchart of an embodiment of a mining vehicle unloading position selection method of the present invention.
Fig. 3 is a flowchart of a method for extracting boundaries by Alpha-Shape algorithm based on deluxe triangle network in the present invention.
Fig. 4 is a schematic view of parking cost area calculation in the present invention.
FIG. 5 is a schematic view of a slide rod model according to the present invention.
Fig. 6 is a schematic diagram of the extraction of boundaries by Alpha-Shape algorithm based on delaunay triangulation in the present invention.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
As shown in fig. 2, the mining vehicle unloading position selecting method provided by the embodiment of the invention specifically includes the steps of:
S1, collecting point cloud
When a mining vehicle (such as a mine truck) runs to a certain range of a preset unloading point, collecting point cloud data around the preset unloading point, which is acquired by a laser radar; in order to ensure reliability, collecting point cloud data acquired by a laser radar in a period of time;
s2, extracting a retaining wall boundary line from cloud data of peripheral points of a preset unloading point, and filtering a retaining wall boundary point on the stopping side of the ore drawing card.
The boundary point selection adopts a grid method, projects in a certain direction vector direction, and extracts the point with which the direction vector is firstly contacted, thereby obtaining the boundary point. In order to reduce the calculation complexity, after the retaining wall point cloud is received, the retaining wall point cloud is projected to a two-dimensional plane, an obstacle grid is established, points with low confidence coefficient are removed through the number of times that the points fall on the grid, and accuracy of retaining wall boundary points is improved.
In another embodiment, the retaining wall boundary tends to be non-convex due to the relief line exhibiting irregularities. The Alpha-Shape algorithm is a method capable of extracting non-salient point cloud boundaries, so that the Alpha-Shape algorithm is used for extracting retaining wall boundary lines. Specifically, as shown in fig. 3 and 6, the Alpha-Shape algorithm based on Delaunay triangle network is used to extract the boundary, specifically:
Delaunay triangulation is based on the definition of Delaunay edges, i.e. edges that meet the empty circle characteristics. Let an edge e be provided, the two end points of which are a and b. If there is a circle that passes through both points a and b and that does not contain any other points in the set of points V within the circle (excluding the circle), then this edge e is referred to as the Delaunay edge. Based on such definition, if all edges in one triangulation of the point set V are Delaunay edges, then this triangulation is referred to as Delaunay triangulation.
Alpha-Shape can be used to extract edges from a set of unordered points. Let the polygon be composed of a set of points s, which together with a preset radius α determine a unique Alpha-Shape boundary. Its principle can be imagined as a circle with radius alpha rolling outside the set of points s. When α is large enough, the circle will not roll into the point set, and the trace of the roll is the boundary line of the point set. The method is realized by the following steps: two points are selected from the point set S, and a circle having a radius α is drawn through the two points, and if there are no other points in the circle, the circle is considered as a boundary line.
According to the empty circle characteristics of the Delaunay edges, whether the edges in the Delaunay triangle network meet Alpha-Shape edge characteristics can be rapidly calculated, and the Alpha-Shape edges are obtained through screening.
S3, calculating and selecting the optimal unloading position
And (3) carrying out spline dense interpolation on the boundary points for a plurality of times (such as three times), calculating the current parking cost of the boundary points after interpolation, and selecting the point with the lowest parking cost as an unloading position. Wherein dense interpolation adopts straight line fitting, and by adopting straight line fitting interpolation of two adjacent boundary points, the boundary points can be densified, and smoother and more detailed boundaries can be created.
As shown in fig. 4, a slide rod model is used to calculate the parking cost for each slide position. Specifically, by sliding a slide rod having a length of vehicle width by a fixed step d from the head to the tail, the parking cost at each sliding point is calculated. Storing the position corresponding to the minimum parking cost and the minimum parking cost in the sliding process; if the minimum parking cost is smaller than the parking threshold N, the minimum parking cost position is the optimal position, otherwise, the unloading position point is considered to be unusable.
Wherein the boundary line of the sliding rod and the retaining wall forms a closed area, and the area of the closed area is taken as the parking cost, as shown in fig. 5. The area of the closed area can be calculated by adopting a discrete integration mode, and the calculating mode of the area A of the closed area is as follows:
Wherein:
a represents the area of a closed area of a graph formed by a retaining wall boundary line and a sliding rod model;
l1 represents the starting point of the slide rod model;
L2 represents the end point of the slide rod model;
Representing the unit area formed by the boundary line of the retaining wall and the sliding rod;
The unit area formed by the sliding rod and the x axis is shown;
S represents And (3) withAnd (3) summing.
In addition, two point clouds corresponding to the sliding rod positions of the width length of the retaining wall boundary line can be accurately found by interpolating the point clouds and then solving the corresponding points of the sliding rod in a numerical mode, and then the corresponding parking cost is obtained.
In addition, at the unloading point, there is often some scattered stone. Consider a scene with obstacles: if a stone obstacle intrudes into the vehicle safety envelope, the parking cost is set to a larger value here.
In order to ensure safety, the vehicle is required to be far away from the stone obstacle as far as possible during parking, so that the transverse distance between the stone obstacle and the vehicle is calculated, and the transverse distance is multiplied by the gain parameter K to be used as parking cost compensation.
S4, checking the optimal unloading position
Because the vehicle-mounted system cannot acquire global information, but the drainage points are required to be reasonably standardized to avoid soil block accumulation, the utilization rate of the soil discharge line is avoided to be too low by uniform soil discharge, and the like, the unloading gesture provided by the dispatching command system is required to be relied on as a reference to check the rationality of parking.
The specific verification can adopt maximum traversing distance verification and parking attitude angle deviation verification, and is specifically as follows:
1. Maximum traversing distance verification
After obtaining the optimal unloading position, the transverse distance between the optimal unloading position and the original unloading position (the unloading position pre-designated by the scheduling system is not considered by the unloading position); if the transverse distance exceeds the corresponding preset threshold value, the optimal unloading position selected at the time is considered to be too far moved, and the unloading position selection is abandoned.
2. Parking attitude angle deviation verification
After the optimal unloading position is obtained, the attitude angle deviation between the optimal unloading position and the original unloading position needs to be checked; if the deviation of the attitude angle exceeds the corresponding preset threshold, the deviation of the lateral distance of the soil discharge selected at the time is considered to be too large, and the selection of the parking position at the time is abandoned.
The mining vehicle unloading position selection method is mainly applied to a scene that an automatic driving vehicle has irregular obstacles at a parking end point; the retaining wall boundary line is extracted by using an Alpha-Shape non-rasterization method, so that the concave point cloud can be processed to obtain an accurate retaining wall boundary line; the sliding rod is adopted to calculate the parking cost of each sliding position, a proper parking unloading position can be selected from the irregular retaining wall, so that ore clamps can be guaranteed to discharge materials to the position below the retaining wall as much as possible, and the retaining wall can be parked in a scene with some obstacles. The method is simple and convenient in overall operation, and the unloading position selection is accurate and rapid.
The invention also discloses a computer program product comprising a computer program which, when run by a processor, performs the steps of the method as described above. The invention further discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, performs the steps of the method as described above. The invention also discloses a computer device comprising a memory and a processor connected to each other, the memory having stored thereon a computer program which, when run by the processor, performs the steps of the method as described above. The product, medium and apparatus of the invention correspond to the above method and also have the advantages described above.
The present invention may also be implemented in whole or in part by hardware associated with computer program instructions, which may be stored in a computer-readable storage medium, the computer program, when executed by a processor, implementing the steps of the method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer-readable storage medium includes: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. The memory is used for storing computer programs and/or modules, and the processor implements various functions by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory may include high speed random access memory, but may also include non-volatile memory such as a hard disk, memory, plug-in hard disk, smart memory card (SMART MEDIA CARD, SMC), secure Digital (SD) card, flash memory card (FLASH CARD), at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device, etc.
In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (9)
1. The mining vehicle unloading position selecting method is characterized by comprising the following steps of:
s1, acquiring peripheral point cloud data of a preset unloading point;
s2, extracting a retaining wall boundary line from the cloud data of the peripheral points of the preset unloading point;
s3, calculating the parking cost of each sliding position through a sliding rod model, and taking the sliding point with the lowest parking cost as the optimal unloading position; the sliding rod model and the retaining wall boundary line form a closed area, and the area of the closed area is used as parking cost;
The specific process of step S3 is as follows:
sliding a sliding rod with the length of the vehicle width by a fixed step length d from the head to the tail, and calculating the parking cost of each sliding point; storing the position corresponding to the minimum parking cost and the minimum parking cost in the sliding process; if the minimum parking cost is smaller than the parking threshold N, the minimum parking cost position is taken as the optimal unloading position;
Calculating to obtain the area of the closed area by adopting a discrete integration mode, wherein the calculating mode of the area A of the closed area is as follows:
Wherein:
a represents the area of a closed area of a graph formed by a retaining wall boundary line and a sliding rod model;
l1 represents the starting point of the slide rod model;
L2 represents the end point of the slide rod model;
Representing the unit area formed by the boundary line of the retaining wall and the sliding rod;
The unit area formed by the sliding rod and the x axis is shown;
S represents And (3) withAnd (3) summing.
2. The mining vehicle unloading position selection method according to claim 1, wherein in calculating the parking cost, if the stone obstacle intrudes into the vehicle safety envelope, a lateral distance between the stone obstacle and the vehicle is calculated, and the lateral distance is multiplied by a gain parameter to compensate for the parking cost.
3. The mining vehicle unloading position selection method according to claim 1, characterized by further comprising, after step S3, step S4: and checking the optimal unloading position.
4. The mining vehicle unloading position selection method according to claim 3, wherein the optimal unloading position is verified by a maximum traversing distance verification method or/and a parking attitude angle deviation verification method;
the maximum traversing distance checking method comprises the following steps: the distance projection of the optimal unloading position and the original unloading position to the x-axis component is required to be smaller than a preset distance threshold;
the parking attitude angle deviation checking method comprises the following steps: the absolute value of the difference between the distance course angle of the optimal unloading position and the original unloading position is required to be smaller than a preset angle threshold value;
Wherein the original unloading position is a pre-designated unloading position without taking into account the shape of the retaining wall.
5. The mining vehicle unloading position selection method according to claim 1 or 2, characterized in that in step S2, a retaining wall boundary line is extracted using an Alpha-Shape algorithm based on a deluxe triangle network.
6. The mining vehicle unloading position selection method according to claim 5, wherein the specific process of extracting the retaining wall boundary line by using Alpha-Shape algorithm based on deluxe triangle network is as follows:
Constructing a Dellon triangle network, calculating the radius r of a circumscribed circle of a triangle in the Dellon triangle network, reserving a triangle with r < Alpha by utilizing the empty circle characteristic in the Dellon triangle network, screening Dellon triangle sides conforming to Alpha-Shape to determine Alpha-Shape, traversing all triangles in the Alpha-Shape, and taking a boundary side if the adjacent sides do not belong to the sides of the Alpha-Shape; where α is a preset radius.
7. A computer program product comprising a computer program which, when run by a processor, performs the steps of the method according to any one of claims 1-6.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, performs the steps of the method according to any of claims 1-6.
9. A computer device comprising a memory and a processor connected to each other, the memory having stored thereon a computer program, characterized in that the computer program, when being executed by the processor, performs the steps of the method according to any of claims 1-6.
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| CN117135593A (en) * | 2023-08-25 | 2023-11-28 | 浙江大学 | A fleet-based joint optimization of delay-energy consumption task offloading method for Internet of Vehicles |
| CN118192545A (en) * | 2024-02-23 | 2024-06-14 | 东风商用车有限公司 | A method, system and device for autonomous driving trajectory planning to avoid road potholes |
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| CN116086467A (en) * | 2022-12-30 | 2023-05-09 | 东风商用车有限公司 | Target detection and positioning system based on unmanned integrated card under port connection scene |
| CN117111089A (en) * | 2023-10-24 | 2023-11-24 | 青岛慧拓智能机器有限公司 | Method, system, equipment and storage medium for identifying availability state of ore card unloading point |
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