CN104731100A - Unmanned control method and system for underground scraper - Google Patents

Abstract

The invention discloses a method and a system for controlling unmanned driving of an underground scraper, wherein the related method comprises the following steps: periodically scanning roadway information within a preset angle range to obtain a plurality of distance measurement data between the roadway and the roadway; calculating a comprehensive deviation according to the distance measurement data obtained in each period; acquiring an externally input driving direction including forward or backward, calculating fusion feedback e by using the calculated comprehensive deviation W, correcting the fusion feedback e , and calculating steering control voltage u ; where k denotes a period, and when an initial period k is 1, e e (k-1) e (k-2) 0, and u u (k-1) 0; and controlling the scraper to move forwards or backwards and correspondingly steer according to the driving direction and the steering control voltage u . By adopting the method and the system disclosed by the invention, the unmanned driving of the scraper in the working range can be conveniently and accurately realized.

Description

A kind of unmanned control method of underground scraper and system

Technical field

The present invention relates to mining and metallurgy technology field, particularly relate to the unmanned control method of a kind of underground scraper and system.

Background technology

In recent years, the exploitation of mineral resources phases out into underground, and extend to deep, along with the continuous increase of the degree of depth, the working environment of down-hole is more and more severe, also have the hazards such as uncertain roof fall, inevitably bring certain safety and risk to the personnel being engaged in mining haul armament-related work, the unmanned technology as the transportation equipment-scraper of most critical in underground trackless mining technique becomes research tendency simultaneously.

Because working environment that down-hole is special makes some general unmanned driving technologies of current existing vehicle, the technology as combined based on GPS and inertial navigation cannot use in down-hole.

Summary of the invention

The object of this invention is to provide the unmanned control method of a kind of underground scraper and system, can facilitate, realize unmanned in its working range of scraper accurately.

The object of the invention is to be achieved through the following technical solutions:

The unmanned control method of a kind of underground scraper, the method comprises:

Tunnel information within the scope of periodic scanning predetermined angle, obtains the distance measurement data between some and tunnel;

Comprehensive deviation W is calculated according to the distance measurement data that each cycle obtains;

What obtain outside input comprises the travel direction of advancing or retreating, and using the comprehensive deviation W in a kth cycle that calculates as control deviation e (k), calculates course changing control voltage u (k); Wherein, if during initial period k=2, e (k)=e (k-1)=e (k-2)=0, u (k)=u (k-1)=0;

Control scraper according to travel direction and course changing control voltage u (k) to carry out advancing or retreat and the Turning travel of correspondence.

Further, tunnel information within the scope of described periodic scanning predetermined angle, the distance measurement data obtained between some and tunnel comprises:

In the single pass cycle, scanning light beam carries out laser ranging scanning every 1 °, if predetermined angle scope is n °, then obtains n+1 distance measurement data; Wherein, n is 180 or 360.

Further, the described distance measurement data calculating comprehensive deviation W obtained according to each cycle comprises:

In each cycle, the difference calculating often pair of symmetrical scanning light beam range finding and symmetrical scanning light beam are found range the ratio of sum, then sue for peace, formation comprehensive deviation W, and its formula is:

$W=\underset{i=0}{\overset{i=m}{\mathrm{\Σ}}}\frac{L_{n-i}-L_i}{L_{n-i}+L_i},m\≤n;$

Wherein, L _iwith L _n-iexpression i-th ° and distance measure during the n-th-i ° respectively.

Further, the formula calculating course changing control voltage u (k) is:

u(k)＝u(k-1)+Δu(k)；

Wherein, Δ u (k) represents the increment of the course changing control voltage in a kth cycle, and its computing formula is:

Δu(k)＝K _p[e(k)-e(k-1)]+K _ie(k)+K _d[e(k)-2e(k-1)+e(k-2)]；

In above formula, K _p, K _iwith K _dbe respectively default scale-up factor, integral coefficient and differential coefficient.

Further, describedly control scraper according to travel direction and course changing control voltage u (k) and carry out advancing or retreat and the Turning travel of correspondence comprises:

According to outside input travel direction control scraper forward or retreat travel;

Relatively course changing control voltage u (k) and the magnitude relationship of preset value, if course changing control voltage u (k) is greater than preset value, controls scraper and turn right; Otherwise, control scraper and turn left; Then, amplitude limiting processing is carried out to course changing control voltage u (k), determine the speed turned to according to the numerical value of course changing control voltage u (k) after amplitude limit.

The unmanned control system of a kind of underground scraper, this system comprises:

Scan-type distance detection module, for periodically scanning tunnel information within the scope of predetermined angle, obtains the distance measurement data between some and tunnel;

Message processing module, calculates comprehensive deviation W for the distance measurement data obtained according to each cycle;

Main control unit module, comprises the travel direction of advancing or retreating for what obtain outside input, using the comprehensive deviation W in a kth cycle that calculates as control deviation e (k), calculates course changing control voltage u (k); Wherein, if during initial period k=2, e (k)=e (k-1)=e (k-2)=0, u (k)=u (k-1)=0;

Solenoid valve module, carries out advancing or retreat and the Turning travel of correspondence for controlling scraper according to travel direction and course changing control voltage u (k).

Further, tunnel information within the scope of described periodic scanning predetermined angle, the distance measurement data obtained between some and tunnel comprises:

In the single pass cycle, scanning light beam carries out laser ranging scanning every 1 °, if predetermined angle scope is n °, then obtains n+1 distance measurement data; Wherein, n is 180 or 360.

Further, the described distance measurement data calculating comprehensive deviation W obtained according to each cycle comprises:

In each cycle, the difference calculating often pair of symmetrical scanning light beam range finding and symmetrical scanning light beam are found range the ratio of sum, then sue for peace, formation comprehensive deviation W, and its formula is:

$W=\underset{i=0}{\overset{i=m}{\mathrm{\Σ}}}\frac{L_{n-i}-L_i}{L_{n-i}+L_i},m\≤n;$

Wherein, L _iwith L _n-iexpression i-th ° and distance measure during the n-th-i ° respectively.

Further, the formula calculating course changing control voltage u (k) is:

u(k)＝u(k-1)+Δu(k)；

Wherein, Δ u (k) represents the increment of the course changing control voltage in a kth cycle, and its computing formula is:

Δu(k)＝K _p[e(k)-e(k-1)]+K _ie(k)+K _d[e(k)-2e(k-1)+e(k-2)]；

In above formula, K _p, K _iwith K _dbe respectively default scale-up factor, integral coefficient and differential coefficient.

Further, describedly control scraper according to travel direction and course changing control voltage u (k) and carry out advancing or retreat and the Turning travel of correspondence comprises:

According to outside input travel direction control scraper forward or retreat travel;

Relatively course changing control voltage u (k) and the magnitude relationship of preset value, if course changing control voltage u (k) is greater than preset value, controls scraper and turn right; Otherwise, control scraper and turn left; Then, amplitude limiting processing is carried out to course changing control voltage u (k), determine the speed turned to according to the numerical value of course changing control voltage u (k) after amplitude limit.

As seen from the above technical solution provided by the invention, by periodically obtaining the distance measurement data in tunnel and scraper, and calculate course changing control voltage with this, again in conjunction with the travel direction of input, then can facilitate, realize accurately down-hole Special Laneway, particular job scope scraper unmanned.

Accompanying drawing explanation

In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.

The process flow diagram of the unmanned control method of a kind of underground scraper that Fig. 1 provides for the embodiment of the present invention one;

Fig. 2 for the embodiment of the present invention one provide to tunnel carry out 180 ° scanning time schematic diagram;

The schematic diagram of the unmanned control system of a kind of underground scraper that Fig. 3 provides for the embodiment of the present invention two.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on embodiments of the invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to protection scope of the present invention.

In actual applications, scraper is generally 200 meters in the working range of down-hole, and its travel route, once after determining, a workplace remains unchanged substantially, is mainly shovel and decorates moving back and forth between unloading point.Based on this, the present invention is directed to the special environment of underworkings and the special working range of scraper, propose a kind of unmanned scraper control program, what utilize the program can easily realize in scraper working range is unmanned, structure involved by the program is simple, and working stability is reliable.Be described in detail below in conjunction with specific embodiment.

Embodiment one

The schematic diagram of the unmanned control method of a kind of underground scraper that Fig. 1 provides for the embodiment of the present invention one.As shown in Figure 1, the method mainly comprises the steps:

Tunnel information within the scope of step 11, periodically scanning predetermined angle, obtains the distance measurement data between some and tunnel.

When scan period each time (cycle T can be set to 20 milliseconds), scanning light beam carries out laser ranging scanning every 1 °, if predetermined angle scope is n °, then obtains n+1 distance measurement data; Be expressed as: L ₀, L ₁, L ₂..., L _n; Wherein, n is 180 or 360.

As shown in Figure 2, in Fig. 2, predetermined angle scope is set to 180 °, and mark 1 represents underworkings wall, and mark 2 represents scraper, and mark 3 represents the scan-type distance detection module for completing this step be arranged on scraper.

This scan-type distance detection module is for detecting environment relative distance information in tunnel around scraper, the major function of this module is in same surface level, with certain resolution continuously in same angular range, range information relative to the range information of self, and stores according to specific storage mode by repeated measurement tunnels etc.About this scan-type distance detection module is arranged on scraper usually and the central intersection point (being generally positioned at above cab ceiling) of front and back.

Step 12, the distance measurement data obtained according to each cycle calculate comprehensive deviation W.

In each cycle, the difference calculating often pair of symmetrical scanning light beam range finding and symmetrical scanning light beam are found range the ratio of sum, then sue for peace, formation comprehensive deviation W, and its formula is:

$W=\underset{i=0}{\overset{i=m}{\mathrm{\Σ}}}\frac{L_{n-i}-L_i}{L_{n-i}+L_i},m\≤n;$

Wherein, L _iwith L _n-iexpression i-th ° and distance measure during the n-th-i ° respectively.

Exemplary, 30 ° ~ 60 °, the left side can be got in real work, the distance measure that the right is 120 ° ~ 150 °.

Step 13, obtain outside input comprise the travel direction of advancing or retreating, using the comprehensive deviation W in a kth cycle that calculates as control deviation e (k), calculate course changing control voltage u (k).

The input of described outside comprise the travel direction of advancing or retreating, can be the current travel direction of scraper that user inputs.

In inventive embodiments, unmanned control method major control scraper travels along the center line in tunnel, because distance detection module is arranged on symmetrical line, so the unmanned method controlling scraper mainly becomes control the process that comprehensive deviation w constantly trends towards 0, get the numerical value of comprehensive deviation W as the control deviation e in actual computation.

In actual travel, if during scraper setting original state (k=2), e (k)=e (k-1)=e (k-2)=0, u (k)=u (k-1)=0.Wherein e (K), e (k-1), e (k-2) represented control deviation when k moment and a upper sampling period and upper two sampling periods respectively; U (k) and u (k-1) representative controls the magnitude of voltage that turns to, is also to control one of key parameter that scraper independently travels.

The iterative computation formula of u (k) is expressed as:

u(k)＝u(k-1)+Δu(k)；

Wherein, Δ u (k) represents the increment of the course changing control voltage in a kth cycle, and its computing formula is:

Δu(k)＝K _p[e(k)-e(k-1)]+K _ie(k)+K _d[e(k)-2e(k-1)+e(k-2)]；

In above formula, K _p, K _iwith K _dbe respectively default scale-up factor, integral coefficient and differential coefficient, concrete can set with reference to the hydraulic system of actual scraper.

Step 14, to control scraper according to travel direction and course changing control voltage u (k) and carry out advancing or retreat and the Turning travel of correspondence.

In the embodiment of the present invention, travel direction is determined according to the travel direction of outer input, thus gives advance according to the travel direction of outer input or retreat electromagnetic valve current.Control to turn to and corresponding speed time, first next step needs to turn left or turns right (magnitude relationship comparing u (k) and preset value) to judge scraper, if course changing control voltage u (k) of real-time calculating is greater than preset value (such as, preset value is 0), then control to turn to into turning right, if u (k) is less than preset value, then for turning left.Secondly amplitude limiting processing is carried out to u (k), consider that actual electromagnetic threshold voltage supply voltage is 24V, the digital quantity 0 ~ 24V voltage equal proportion being converted to 0 ~ 127 replaces, then results of calculation is greater than 127, then value is 127, if be less than-127, then value be-127 according to 0 ~ 127 increase progressively turning velocity corresponding to relation from low to high by the u (k) after amplitude limit, indirect assignment to turning to solenoid valve (can determine according to the numerical value of course changing control voltage u (k) after amplitude limit the speed that turns to), thus drives scraper according to the action executing of setting.

Afterwards, transfer stores e (k-1) → e (k-2), e (k) → e (k-1), u (k) → u (k-1).

Repeat above-mentioned steps, scraper can be realized and independently travel and course changing control; Meanwhile, because scan-type distance detection module is arranged on about scraper and the central intersection point of front and back usually, then the variation tendency in tunnel of can following one wherever one goes, keeps scraper to be in center line in roadway position all the time and travels.

The embodiment of the present invention is by periodically obtaining the distance measurement data of tunnel and scraper, and calculate course changing control voltage with this, again in conjunction with the travel direction of input, then can facilitate, realize accurately down-hole Special Laneway, particular job scope scraper unmanned.

Embodiment two

The schematic diagram of the unmanned control system of a kind of underground scraper that Fig. 3 provides for the embodiment of the present invention two.As shown in Figure 3, this system mainly comprises:

Scan-type distance detection module 31, for periodically scanning tunnel information within the scope of predetermined angle, obtains the distance measurement data between some and tunnel;

Message processing module 32, calculates comprehensive deviation W for the distance measurement data obtained according to each cycle;

Main control unit module 33, comprises the travel direction of advancing or retreating for what obtain outside input, using the comprehensive deviation W in a kth cycle that calculates as control deviation e (k), calculates course changing control voltage u (k); Wherein, if during initial period k=2, e (k)=e (k-1)=e (k-2)=0, u (k)=u (k-1)=0;

Solenoid valve module 34, carries out advancing or retreat and the Turning travel of correspondence for controlling scraper according to travel direction and course changing control voltage u (k).

Further, tunnel information within the scope of described periodic scanning predetermined angle, the distance measurement data obtained between some and tunnel comprises:

In the single pass cycle, scanning light beam carries out laser ranging scanning every 1 °, if predetermined angle scope is n °, then obtains n+1 distance measurement data; Wherein, n is 180 or 360.

Further, the described distance measurement data calculating comprehensive deviation W obtained according to each cycle comprises:

In each cycle, the difference calculating often pair of symmetrical scanning light beam range finding and symmetrical scanning light beam are found range the ratio of sum, then sue for peace, formation comprehensive deviation W, and its formula is:

$W=\underset{i=0}{\overset{i=m}{\mathrm{\Σ}}}\frac{L_{n-i}-L_i}{L_{n-i}+L_i},m\≤n;$

Wherein, L _iwith L _n-iexpression i-th ° and distance measure during the n-th-i ° respectively.

Further, the formula calculating course changing control voltage u (k) is:

u(k)＝u(k-1)+Δu(k)；

Wherein, Δ u (k) represents the increment of the course changing control voltage in a kth cycle, and its computing formula is:

Δu(k)＝K _p[e(k)-e(k-1)]+K _ie(k)+K _d[e(k)-2e(k-1)+e(k-2)]；

In above formula, K _p, K _iwith K _dbe respectively default scale-up factor, integral coefficient and differential coefficient.

Further, describedly control scraper according to travel direction and course changing control voltage u (k) and carry out advancing or retreat and the Turning travel of correspondence comprises:

According to outside input travel direction control scraper forward or retreat travel;

Relatively course changing control voltage u (k) and the magnitude relationship of preset value, if course changing control voltage u (k) is greater than preset value, controls scraper and turn right; Otherwise, control scraper and turn left; Then, amplitude limiting processing is carried out to course changing control voltage u (k), determine the speed turned to according to the numerical value of course changing control voltage u (k) after amplitude limit.

It should be noted that, have a detailed description in the specific implementation of the function that each functional module comprised in said system realizes each embodiment above, therefore here repeat no more.

Those skilled in the art can be well understood to, for convenience and simplicity of description, only be illustrated with the division of above-mentioned each functional module, in practical application, can distribute as required and by above-mentioned functions and be completed by different functional modules, inner structure by system is divided into different functional modules, to complete all or part of function described above.

The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.

Claims (10)

1. the unmanned control method of underground scraper, it is characterized in that, the method comprises:

Tunnel information within the scope of periodic scanning predetermined angle, obtains the distance measurement data between some and tunnel;

Comprehensive deviation W is calculated according to the distance measurement data that each cycle obtains;

What obtain outside input comprises the travel direction of advancing or retreating, and using the comprehensive deviation W in a kth cycle that calculates as control deviation e (k), calculates course changing control voltage u (k); Wherein, if during initial period k=2, e (k)=e (k-1)=e (k-2)=0, u (k)=u (k-1)=0;

Control scraper according to travel direction and course changing control voltage u (k) to carry out advancing or retreat and the Turning travel of correspondence.

2. method according to claim 1, is characterized in that, tunnel information within the scope of described periodic scanning predetermined angle, and the distance measurement data obtained between some and tunnel comprises:

In the single pass cycle, scanning light beam carries out laser ranging scanning every 1 °, if predetermined angle scope is n °, then obtains n+1 distance measurement data; Wherein, n is 180 or 360.

3. method according to claim 2, is characterized in that, the described distance measurement data obtained according to each cycle calculates comprehensive deviation W and comprises:

In each cycle, the difference calculating often pair of symmetrical scanning light beam range finding and symmetrical scanning light beam are found range the ratio of sum, then sue for peace, formation comprehensive deviation W, and its formula is:

$W=\underset{i=0}{\overset{i=m}{\mathrm{\Σ}}}\frac{L_{n-i}-L_i}{L_{n-i}+L_i},m\≤n;$

Wherein, L _iwith L _n-iexpression i-th ° and distance measure during the n-th-i ° respectively.

4. method according to claim 1, is characterized in that, the formula calculating course changing control voltage u (k) is:

u(k)＝u(k-1)+Δu(k)；

Wherein, Δ u (k) represents the increment of the course changing control voltage in a kth cycle, and its computing formula is:

Δu(k)＝K _p[e(k)-e(k-1)]+K _ie(k)+K _d[e(k)-2e(k-1)+e(k-2)]；

In above formula, K _p, K _iwith K _dbe respectively default scale-up factor, integral coefficient and differential coefficient.

5. method according to claim 1, is characterized in that, describedly controls scraper according to travel direction and course changing control voltage u (k) and carries out advancing or retreat and the Turning travel of correspondence comprises:

According to outside input travel direction control scraper forward or retreat travel;

Relatively course changing control voltage u (k) and the magnitude relationship of preset value, if course changing control voltage u (k) is greater than preset value, controls scraper and turn right; Otherwise, control scraper and turn left; Then, amplitude limiting processing is carried out to course changing control voltage u (k), determine the speed turned to according to the numerical value of course changing control voltage u (k) after amplitude limit.

6. the unmanned control system of underground scraper, is characterized in that, this system comprises:

Scan-type distance detection module, for periodically scanning tunnel information within the scope of predetermined angle, obtains the distance measurement data between some and tunnel;

Message processing module, calculates comprehensive deviation W for the distance measurement data obtained according to each cycle;

Main control unit module, comprises the travel direction of advancing or retreating for what obtain outside input, using the comprehensive deviation W in a kth cycle that calculates as control deviation e (k), calculates course changing control voltage u (k); Wherein, if during initial period k=2, e (k)=e (k-1)=e (k-2)=0, u (k)=u (k-1)=0;

Solenoid valve module, carries out advancing or retreat and the Turning travel of correspondence for controlling scraper according to travel direction and course changing control voltage u (k).

7. system according to claim 6, is characterized in that, tunnel information within the scope of described periodic scanning predetermined angle, and the distance measurement data obtained between some and tunnel comprises:

In the single pass cycle, scanning light beam carries out laser ranging scanning every 1 °, if predetermined angle scope is n °, then obtains n+1 distance measurement data; Wherein, n is 180 or 360.

8. system according to claim 7, is characterized in that, the described distance measurement data obtained according to each cycle calculates comprehensive deviation W and comprises:

In each cycle, the difference calculating often pair of symmetrical scanning light beam range finding and symmetrical scanning light beam are found range the ratio of sum, then sue for peace, formation comprehensive deviation W, and its formula is:

$W=\underset{i=0}{\overset{i=m}{\mathrm{\Σ}}}\frac{L_{n-i}-L_i}{L_{n-i}+L_i},m\≤n;$

Wherein, L _iwith L _n-iexpression i-th ° and distance measure during the n-th-i ° respectively.

9. system according to claim 6, is characterized in that, the formula calculating course changing control voltage u (k) is:

u(k)＝u(k-1)+Δu(k)；

Wherein, Δ u (k) represents the increment of the course changing control voltage in a kth cycle, and its computing formula is:

Δu(k)＝K _p[e(k)-e(k-1)]+K _ie(k)+K _d[e(k)-2e(k-1)+e(k-2)]；

In above formula, K _p, K _iwith K _dbe respectively default scale-up factor, integral coefficient and differential coefficient.

10. system according to claim 6, is characterized in that, describedly controls scraper according to travel direction and course changing control voltage u (k) and carries out advancing or retreat and the Turning travel of correspondence comprises:

According to outside input travel direction control scraper forward or retreat travel;

Relatively course changing control voltage u (k) and the magnitude relationship of preset value, if course changing control voltage u (k) is greater than preset value, controls scraper and turn right; Otherwise, control scraper and turn left; Then, amplitude limiting processing is carried out to course changing control voltage u (k), determine the speed turned to according to the numerical value of course changing control voltage u (k) after amplitude limit.