CN104731100B - Unmanned control method and system for underground scraper - Google Patents
Unmanned control method and system for underground scraper Download PDFInfo
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- CN104731100B CN104731100B CN201510148850.0A CN201510148850A CN104731100B CN 104731100 B CN104731100 B CN 104731100B CN 201510148850 A CN201510148850 A CN 201510148850A CN 104731100 B CN104731100 B CN 104731100B
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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 (k) by using the calculated comprehensive deviation W, correcting the fusion feedback e (k), and calculating steering control voltage u (k); where k denotes a period, and when an initial period k is 1, e (k) e (k-1) e (k-2) 0, and u (k) 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 (k). 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
Technical field
The present invention relates to mining and metallurgy technology field, more particularly to a kind of unmanned control method of underground scraper and system.
Background technology
In recent years, the exploitation of mineral resources phases out into underground, and extends to deep, with being continuously increased for depth, well
Under working environment it is more and more severe, while hazards such as also uncertain roof fall, inevitably to being engaged in mining fortune
The personnel of defeated armament-related work bring certain safety and risk, the transport dress as most critical in underground trackless mining technique
The unmanned technology of standby-scraper becomes research tendency.
Since the special working environment in underground causes some general unmanned driving technologies of current existing vehicle, such as it is based on
The technology that GPS and inertial navigation combine can not be used in underground.
The content of the invention
, can conveniently, accurately the object of the present invention is to provide a kind of unmanned control method of underground scraper and system
Realize that scraper is unmanned in its working range.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of unmanned control method of underground scraper, this method include：
Tunnel information periodically in the range of scanning predetermined angle, obtains some distance measurement datas between tunnel；
The distance measurement data obtained according to each cycle calculates comprehensive deviation W；
The externally input travel direction comprising advance or retrogressing is obtained, by the comprehensive deviation W in k-th of the cycle calculated
As control deviation e (k), to calculate 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；
Advanced or retreated and corresponding turn according to travel direction and course changing control voltage u (k) control scrapers
To traveling.
Further, it is described periodically scanning predetermined angle in the range of tunnel information, obtain it is some between tunnel away from
Include from measurement data：
In the single pass cycle, scanning light beam carries out laser ranging scanning every 1 °, if predetermined angle scope is
N °, then obtain n+1 distance measurement data；Wherein, n is 180 or 360.
Further, the distance measurement data obtained according to each cycle, which calculates comprehensive deviation W, includes：
In each cycle, the difference of the symmetrical scanning light beam ranging of each pair and symmetrical scanning light beam ranging are calculated
The sum of ratio, then sum, form comprehensive deviation W, its formula is：
Wherein, LiWith Ln-iDistance measure when representing i-th ° respectively with n-th-i °.
Further, the formula of calculating course changing control voltage u (k) is：
U (k)=u (k-1)+Δ u (k)；
Wherein, Δ u (k) represents the increment of the course changing control voltage in k-th of cycle, its calculation formula is：
Δ u (k)=Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)]；
In above formula, Kp、KiWith KdRespectively default proportionality coefficient, integral coefficient and differential coefficient.
Further, it is described to be advanced or retreated according to travel direction and course changing control voltage u (k) control scrapers
And corresponding Turning travel includes：
Control scraper forward according to externally input travel direction or retreat traveling；
Compare the magnitude relationship of course changing control voltage u (k) and preset value, if course changing control voltage u (k) is more than preset value
Control scraper is turned right；Otherwise, control scraper is turned left；Then, amplitude limiting processing, root are carried out to course changing control voltage u (k)
The speed for determining to turn to according to the numerical value of the course changing control voltage u (k) after amplitude limit.
A kind of unmanned control system of underground scraper, the system include：
Scan-type is apart from detection module, for periodically scanning tunnel information in the range of predetermined angle, obtain it is some with
Distance measurement data between tunnel；
Message processing module, the distance measurement data for being obtained according to each cycle calculate comprehensive deviation W；
Main control unit module, it is externally input comprising the travel direction advanced or retreated for obtaining, by what is calculated
The comprehensive deviation W in k-th of cycle is as control deviation e (k), to calculate course changing control voltage u (k)；Wherein, if initial period k
When=2, e (k)=e (k-1)=e (k-2)=0, u (k)=u (k-1)=0；
Solenoid valve module, for according to travel direction and course changing control voltage u (k) control scraper advanced or after
Move back and corresponding Turning travel.
Further, it is described periodically scanning predetermined angle in the range of tunnel information, obtain it is some between tunnel away from
Include from measurement data：
In the single pass cycle, scanning light beam carries out laser ranging scanning every 1 °, if predetermined angle scope is
N °, then obtain n+1 distance measurement data；Wherein, n is 180 or 360.
Further, the distance measurement data obtained according to each cycle, which calculates comprehensive deviation W, includes：
In each cycle, the difference of the symmetrical scanning light beam ranging of each pair and symmetrical scanning light beam ranging are calculated
The sum of ratio, then sum, form comprehensive deviation W, its formula is：
Wherein, LiWith Ln-iDistance measure when representing i-th ° respectively with n-th-i °.
Further, the formula of calculating course changing control voltage u (k) is：
U (k)=u (k-1)+Δ u (k)；
Wherein, Δ u (k) represents the increment of the course changing control voltage in k-th of cycle, its calculation formula is：
Δ u (k)=Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)]；
In above formula, Kp、KiWith KdRespectively default proportionality coefficient, integral coefficient and differential coefficient.
Further, it is described to be advanced or retreated according to travel direction and course changing control voltage u (k) control scrapers
And corresponding Turning travel includes：
Control scraper forward according to externally input travel direction or retreat traveling；
Compare the magnitude relationship of course changing control voltage u (k) and preset value, if course changing control voltage u (k) is more than preset value
Control scraper is turned right；Otherwise, control scraper is turned left；Then, amplitude limiting processing, root are carried out to course changing control voltage u (k)
The speed for determining to turn to according to the numerical value of the 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 in tunnel and scraper
Measurement data, and course changing control voltage is calculated with this, in conjunction with the travel direction of input, then it can facilitate, accurately realize well
Lower Special Laneway, the scraper of particular job scope are unmanned.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, without creative efforts, other can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of flow chart for the unmanned control method of underground scraper that the embodiment of the present invention one provides；
Fig. 2 be the embodiment of the present invention one provide to tunnel carry out 180 ° scanning when schematic diagram；
Fig. 3 is a kind of schematic diagram of the unmanned control system of underground scraper provided by Embodiment 2 of the present invention.
Embodiment
With reference to the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Based on this
The embodiment of invention, the every other implementation that those of ordinary skill in the art are obtained without making creative work
Example, belongs to protection scope of the present invention.
In practical applications, working range of the scraper in underground is generally 200 meters, its travel route once it is determined that after,
It is held essentially constant on a working face, predominantly shovel decorates moving back and forth between unloading point.Based on this, this hair
The special working range of the bright environment special for underworkings and scraper, proposes a kind of unmanned scraper controlling party
Case, can easily be realized unmanned in scraper working range using the program, and the structure involved by the program is simple,
It is stable and reliable in work.It is described in detail with reference to specific embodiment.
Embodiment one
Fig. 1 is a kind of schematic diagram for the unmanned control method of underground scraper that the embodiment of the present invention one provides.Such as Fig. 1
Shown, this method mainly includes the following steps：
Step 11, periodically tunnel information in the range of scanning predetermined angle, obtain some range measurements between tunnel
Data.
In the scan period each time (cycle T can be set to 20 milliseconds), scanning light beam carries out a laser ranging every 1 °
Scanning, if predetermined angle scope is n °, obtains n+1 distance measurement data；It is expressed as：L0, L1, L2..., Ln；Wherein, n
For 180 or 360.
As shown in Fig. 2, predetermined angle scope is arranged to 180 ° in Fig. 2, mark 1 represents underworkings wall, and mark 2 represents shovel
Fortune machine, mark 3 represents to be arranged on is used to complete the scan-type of this step apart from detection module on scraper.
The scan-type is used to detect environment relative distance information in tunnel around scraper, the master of the module apart from detection module
Want function be in same horizontal plane, with certain resolution ratio continuously in same angular range, the phase such as repeated measurement tunnel
Stored for the range information of itself, and by range information according to specific storage mode.Scan-type distance detection mould
Block is typically mounted on scraper or so and front and rear central intersection point (being normally above cab ceiling).
Step 12, the distance measurement data obtained according to each cycle calculate comprehensive deviation W.
In each cycle, the difference of the symmetrical scanning light beam ranging of each pair and symmetrical scanning light beam ranging are calculated
The sum of ratio, then sum, form comprehensive deviation W, its formula is：
Wherein, LiWith Ln-iDistance measure when representing i-th ° respectively with n-th-i °.
Exemplary, 30 °~60 ° of the left side, the distance measure that 120 °~150 ° of the right can be taken in real work.
Step 13, obtain it is externally input comprising the travel direction advanced or retreated, it is comprehensive by k-th of the cycle calculated
Deviation W is closed as control deviation e (k), to calculate course changing control voltage u (k).
It is described externally input comprising the travel direction advanced or retreated, can be the current row of scraper input by user
Sail direction.
In inventive embodiments, unmanned control method major control scraper is travelled along the center line in tunnel, due to
It is installed on apart from detection module on symmetrical line, so the unmanned method of control scraper mainly becomes comprehensive inclined in order to control
Poor w constantly tends to 0 process, takes the numerical value of comprehensive deviation W as the control deviation e in actual calculate.
In actual travel, if scraper sets 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 k moment and a upper sampling period respectively and upper two are adopted
Control deviation during the sample cycle；U (k) and u (k-1) represents the magnitude of voltage that control turns to, and controls what scraper independently travelled
One of key parameter.
The iterative calculation formula of u (k) is expressed as：
U (k)=u (k-1)+Δ u (k)；
Wherein, Δ u (k) represents the increment of the course changing control voltage in k-th of cycle, its calculation formula is：
Δ u (k)=Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)]；
In above formula, Kp、KiWith KdRespectively default proportionality coefficient, integral coefficient and differential coefficient, specifically refer to reality
The hydraulic system setting of border scraper.
Step 14, according to travel direction and course changing control voltage u (k) control scrapers advanced or retreated and right
The Turning travel answered.
In the embodiment of the present invention, travel direction is according to determined by the travel direction of outer input, so that according to outer input
Travel direction to advance or retreat electromagnetic valve current.In control steering and corresponding speed, first determine whether that scraper is next
Step is needed or turned right (magnitude relationship for comparing u (k) and preset value), if the course changing control voltage u (k) calculated in real time
More than preset value (for example, preset value is 0), then steering is controlled to turn right, if u (k) is less than preset value, to turn left.Secondly
Amplitude limiting processing is carried out to u (k), it is contemplated that actual electromagnetic threshold voltage supply voltage is 24V, and 0~24V voltage equal proportions are converted into
0~127 digital quantity replaces, then results of calculation is more than 127, then value is 127, if less than -127, then value for -
127 give the u (k) after amplitude limit, indirect assignment to steering electricity from low to high according to 0~127 corresponding turning velocity of incremental relation
Magnet valve (can be determined according to the numerical value of the course changing control voltage u (k) after amplitude limit turn to speed), so as to drive scraper according to setting
Fixed action executing.
Afterwards, transfer storage e (k-1) → e (k-2), e (k) → e (k-1), u (k) → u (k-1).
Repeat the above steps, it can be achieved that scraper independently travels and course changing control；Simultaneously as scan-type distance detection mould
Block is typically mounted on scraper or so and front and rear central intersection point, then the variation tendency in the tunnel that can follow one wherever one goes, and keeps scraper
Machine is travelled in center line in roadway position all the time.
The embodiment of the present invention is calculated with this and turned by periodically obtaining the distance measurement data in tunnel and scraper
To control voltage, in conjunction with the travel direction of input, then it can facilitate, accurately realize underground Special Laneway, particular job scope
Scraper it is unmanned.
Embodiment two
Fig. 3 is a kind of schematic diagram of the unmanned control system of underground scraper provided by Embodiment 2 of the present invention.Such as Fig. 3
Shown, which mainly includes：
Scan-type, for periodically scanning tunnel information in the range of predetermined angle, obtains some apart from detection module 31
Distance measurement data between tunnel；
Message processing module 32, the distance measurement data for being obtained according to each cycle calculate comprehensive deviation W；
Main control unit module 33, it is externally input comprising the travel direction advanced or retreated for obtaining, calculating is arrived
K-th of cycle comprehensive deviation W as control deviation e (k), to calculate course changing control voltage u (k)；Wherein, if the initial period
During k=2, e (k)=e (k-1)=e (k-2)=0, u (k)=u (k-1)=0；
Solenoid valve module 34, for according to travel direction and course changing control voltage u (k) control scraper advanced or
Retrogressing and corresponding Turning travel.
Further, it is described periodically scanning predetermined angle in the range of tunnel information, obtain it is some between tunnel away from
Include from measurement data：
In the single pass cycle, scanning light beam carries out laser ranging scanning every 1 °, if predetermined angle scope is
N °, then obtain n+1 distance measurement data；Wherein, n is 180 or 360.
Further, the distance measurement data obtained according to each cycle, which calculates comprehensive deviation W, includes：
In each cycle, the difference of the symmetrical scanning light beam ranging of each pair and symmetrical scanning light beam ranging are calculated
The sum of ratio, then sum, form comprehensive deviation W, its formula is：
Wherein, LiWith Ln-iDistance measure when representing i-th ° respectively with n-th-i °.
Further, the formula of calculating course changing control voltage u (k) is：
U (k)=u (k-1)+Δ u (k)；
Wherein, Δ u (k) represents the increment of the course changing control voltage in k-th of cycle, its calculation formula is：
Δ u (k)=Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)]；
In above formula, Kp、KiWith KdRespectively default proportionality coefficient, integral coefficient and differential coefficient.
Further, it is described to be advanced or retreated according to travel direction and course changing control voltage u (k) control scrapers
And corresponding Turning travel includes：
Control scraper forward according to externally input travel direction or retreat traveling；
Compare the magnitude relationship of course changing control voltage u (k) and preset value, if course changing control voltage u (k) is more than preset value
Control scraper is turned right；Otherwise, control scraper is turned left；Then, amplitude limiting processing, root are carried out to course changing control voltage u (k)
The speed for determining to turn to according to the numerical value of the course changing control voltage u (k) after amplitude limit.
It should be noted that the specific implementation for the function that each function module included in said system is realized exists
Have a detailed description in each embodiment above, therefore repeated no more herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, only with above-mentioned each function
The division progress of module, can be as needed and by above-mentioned function distribution by different function moulds for example, in practical application
Block is completed, i.e., the internal structure of system is divided into different function modules, to complete all or part of work(described above
Energy.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can readily occur in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (8)
1. a kind of unmanned control method of underground scraper, it is characterised in that this method includes：
Tunnel information periodically in the range of scanning predetermined angle, obtains some distance measurement datas between tunnel；
The distance measurement data obtained according to each cycle calculates comprehensive deviation W, including：In each cycle, it is left to calculate each pair
The ratio of the sum of the difference of right symmetrical scanning light beam ranging and symmetrical scanning light beam ranging, then sums, and forms comprehensive inclined
Poor W, its formula are：Wherein, LiWith Ln-iDistance when representing i-th ° respectively with n-th-i ° is surveyed
Value；
Obtain it is externally input comprising advance or retreat travel direction, using the comprehensive deviation W in k-th of the cycle calculated as
Control deviation e (k), to calculate 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 to be advanced or retreated according to travel direction and course changing control voltage u (k) and corresponding turn to is gone
Sail.
2. according to the method described in claim 1, it is characterized in that, tunnel is believed in the range of the periodically scanning predetermined angle
Breath, obtaining some distance measurement datas between tunnel includes：
In the single pass cycle, scanning light beam carries out laser ranging scanning every 1 °, if predetermined angle scope is n °,
Obtain n+1 distance measurement data；Wherein, n is 180 or 360.
3. according to the method described in claim 1, it is characterized in that, the formula for calculating course changing control voltage u (k) is：
U (k)=u (k-1)+Δ u (k)；
Wherein, Δ u (k) represents the increment of the course changing control voltage in k-th of cycle, its calculation formula is：
Δ u (k)=Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)]；
In above formula, Kp、KiWith KdRespectively default proportionality coefficient, integral coefficient and differential coefficient.
It is 4. according to the method described in claim 1, it is characterized in that, described according to travel direction and course changing control voltage u (k)
Control scraper to be advanced or retreated and corresponding Turning travel includes：
Control scraper forward according to externally input travel direction or retreat traveling；
Compare the magnitude relationship of course changing control voltage u (k) and preset value, controlled if course changing control voltage u (k) is more than preset value
Scraper is turned right；Otherwise, control scraper is turned left；Then, amplitude limiting processing is carried out to course changing control voltage u (k), according to limit
The numerical value of course changing control voltage u (k) after width determines the speed turned to.
5. a kind of unmanned control system of underground scraper, it is characterised in that the system includes：
Scan-type, for periodically scanning tunnel information in the range of predetermined angle, obtains some and tunnel apart from detection module
Between distance measurement data；
Message processing module, the distance measurement data for being obtained according to each cycle calculate comprehensive deviation W, including：Each
In cycle, the difference of the symmetrical scanning light beam ranging of each pair and the ratio of the sum of symmetrical scanning light beam ranging are calculated, so
After sum, form comprehensive deviation W, its formula is：Wherein, LiWith Ln-iI-th ° is represented respectively
Distance measure during with n-th-i °；
Main control unit module, will calculate k-th externally input comprising the travel direction advanced or retreated for obtaining
The comprehensive deviation W in cycle is as control deviation e (k), to calculate 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, for according to travel direction and course changing control voltage u (k) control scraper advanced or retreat with
And corresponding Turning travel.
6. system according to claim 5, it is characterised in that tunnel letter in the range of the periodically scanning predetermined angle
Breath, obtaining some distance measurement datas between tunnel includes：
In the single pass cycle, scanning light beam carries out laser ranging scanning every 1 °, if predetermined angle scope is n °,
Obtain n+1 distance measurement data；Wherein, n is 180 or 360.
7. system according to claim 5, it is characterised in that calculate course changing control voltage u (k) formula be：
U (k)=u (k-1)+Δ u (k)；
Wherein, Δ u (k) represents the increment of the course changing control voltage in k-th of cycle, its calculation formula is：
Δ u (k)=Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)]；
In above formula, Kp、KiWith KdRespectively default proportionality coefficient, integral coefficient and differential coefficient.
8. system according to claim 5, it is characterised in that described according to travel direction and course changing control voltage u (k)
Control scraper to be advanced or retreated and corresponding Turning travel includes：
Control scraper forward according to externally input travel direction or retreat traveling；
Compare the magnitude relationship of course changing control voltage u (k) and preset value, controlled if course changing control voltage u (k) is more than preset value
Scraper is turned right；Otherwise, control scraper is turned left；Then, amplitude limiting processing is carried out to course changing control voltage u (k), according to limit
The numerical value of course changing control voltage u (k) after width determines the speed turned to.
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| CN109322698B (en) * | 2018-10-29 | 2024-03-15 | 中国恩菲工程技术有限公司 | Scraper safety isolation device and scraper |
| CN111455848A (en) * | 2020-03-16 | 2020-07-28 | 中铁大桥局集团第二工程有限公司 | Positioning and rechecking method for accurately positioning cable-stayed bridge tower column template based on steel anchor beam |
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| CN201345801Y (en) * | 2009-01-08 | 2009-11-18 | 周静 | Laser scraper |
| CN101713999A (en) * | 2009-11-18 | 2010-05-26 | 北京矿冶研究总院 | Navigation control method of underground autonomous scraper |
| CN103197675A (en) * | 2013-03-13 | 2013-07-10 | 北京矿冶研究总院 | Autonomous driving and obstacle avoidance motion control and target path planning method for underground carry scraper |
| CN103223960A (en) * | 2013-03-28 | 2013-07-31 | 燕山大学 | Straight travelling coordination and steering control method for roadway trackless type hydraulic truck |
| CN103869283A (en) * | 2014-02-14 | 2014-06-18 | 北京矿冶研究总院 | Method and system for positioning underground trackless vehicle |
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