CN110174689B - Cloud control system and method for unloading process of automatic driving mining vehicle - Google Patents
Cloud control system and method for unloading process of automatic driving mining vehicle Download PDFInfo
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- CN110174689B CN110174689B CN201910460791.9A CN201910460791A CN110174689B CN 110174689 B CN110174689 B CN 110174689B CN 201910460791 A CN201910460791 A CN 201910460791A CN 110174689 B CN110174689 B CN 110174689B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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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
- H04W4/029—Location-based management or tracking services
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
Abstract
The invention discloses a cloud control system and a method for automatically driving a mine car to unload materials, wherein a GPS position on an earth mover is provided with a point switch, a differential GPS antenna and a receiver, so that the earth mover can be positioned in real time, a cloud control platform can search the corresponding GPS position of the earth mover from time, and the position of an unloading parking area of the mine car is obtained by calculation by combining the received point cloud of the GPS track of the earth mover, so that the mine car can be automatically unloaded.
Description
Technical Field
The invention belongs to the field of automatic driving control of mining vehicles, and particularly relates to a cloud control system and method for an unloading process of an automatic driving mining vehicle.
Background
The mining vehicle works in a closed operation environment, so that the road condition is relatively simple, the change of the driving route is small, and the automatic driving function is favorably realized. However, the unloading area of the mine field can be changed along with the continuous outward expansion of the unloading work progress, the unloading position of the mining vehicle at each time is not fixed, and the unloading position can be changed along with the conditions such as the sequence of entering the mine field, and the like, so that the automatic driving mining vehicle is difficult to find a safe unloading parking area. The general method is that a camera installed on a mining vehicle is utilized, and an image recognition method is adopted to determine the unloading vehicle position, but according to the condition of field investigation of a mining area, the dust density of the mining area is high, and the image recognition result is greatly influenced; the visual angle of a camera is limited, blind areas are more, a discharging field has no road identification, and the automatic searching of a discharging parking space is difficult; moreover, a single mine car independently searches for the unloading parking space, and uniform and ordered unloading is difficult to realize.
When the mining vehicle is used for discharging, the mining vehicle needs to back a car and run to the edge of the discharging area, then the mining vehicle lifts and discharges materials, because the edge of the discharging area is mostly an inclined plane with large fall, the backing safety risk is large, the mining area can generally use a bulldozer to push up a retaining wall at the edge of the discharging area, and the vehicle is prevented from turning over when discharging. On one hand, because the density difference of materials in a mining area is large, the charging is difficult to control uniformly, the mass center of the vehicle is often not in the center, and the mass center of the vehicle is higher along with the lifting of a large box, so that the vehicle is easy to tip over; on the other hand, the ground in the unloading area is soft and uneven, or the mass center moves backwards during unloading, the ground sinks, and the vehicle can also roll over.
Disclosure of Invention
The invention aims to overcome the defects and provides a system and a method for controlling the discharging process of an automatic mine car, which can realize the automatic discharging function of the automatic mine car reliably, safely and at low cost.
In order to achieve the purpose, the cloud control system for the unloading process of the automatic driving mining vehicle comprises a GPS position dotting switch, a differential GPS antenna, a receiver and a remote terminal which are arranged on a bulldozer, and a cloud control platform and the automatic driving mining vehicle which are based on the internet;
the differential GPS antenna is connected with the receiver and is used for receiving GPS satellite positioning signals and sending the GPS satellite positioning signals to the receiver;
the receiver is used for processing and resolving the GPS satellite positioning signal to obtain accurate position information of the bulldozer;
the receiver and the GPS position dotting switch are connected with a remote terminal, the remote terminal is connected with a cloud control platform, and the cloud control platform is connected with an automatic driving mining vehicle;
the GPS position dotting switch is a self-reset switch and is used for recording the unloading edge track and GPS time information;
the remote terminal is used for collecting information recorded by a real-time position and GPS position dotting switch of the bulldozer and uploading the information to the cloud control platform;
the cloud control platform is used for searching the corresponding bulldozer GPS position from time, calculating to obtain the position of the unloading parking area of the mining vehicle by combining the received bulldozer GPS track point cloud, and sending the position information as a parking instruction to the automatic driving mining vehicle.
The control platform is a mining area automatic driving vehicle data storage calculation, digital map revision and vehicle control management platform constructed on an Internet server.
A control method of a cloud control system for automatically driving a mine vehicle in a discharging process comprises the following steps:
acquiring unloading boundary information and bulldozer position information through a GPS position dotting switch, a differential GPS antenna and a receiver arranged on a bulldozer, and sending the unloading boundary information and the bulldozer position information to a cloud control platform through a remote terminal, wherein the cloud control platform generates the position of a mining vehicle unloading parking area according to the received information;
and step two, the cloud control platform sends the position of the unloading parking area of the mining car to the appointed mining car, and the mining car unloads the material to the appointed position.
In the first step, when the number of operating vehicles in the unloading area is small, or before the unloading operation is started each time, the bulldozer is enabled to drive along the edge of the unloading area from a starting point, the GPS position dotting switch is pressed down at the beginning, the cloud platform starts to record the boundary curve of the unloading area, when the end point of the unloading edge is reached, the GPS position dotting switch is pressed down again, the cloud platform finishes recording the boundary curve, then the digital map of the unloading area is corrected, and the curve starting point is divided according to the safe unloading distance so as to determine the position of the mining vehicle unloading parking area.
In the first step, when a lot of working vehicles exist in the unloading area, the cloud platform extracts edge points from a GPS track point cloud collected by a differential GPS antenna and a receiver on the bulldozer by using an edge detection algorithm, corrects the edge points by combining a digital map to form a boundary curve of the unloading area, and cuts the boundary curve from a curve starting point according to a safe unloading distance to determine the position of the unloading parking area of the mine vehicle.
In the first step, the position generation method of the unloading parking area of the mining vehicle comprises the following steps:
and (3) dividing the curve according to the safe unloading parking space from the starting point of the boundary curve of the unloading area to obtain a series of point locations, wherein the point locations are used as the right rear point of the parking area, and the tangent direction is used as the left side of the parking area, so that the longitude and latitude positions of the left rear point, the left front point and the right front point of the parking area are calculated according to the length of the vehicle and the width of the vehicle, and the position of the complete unloading parking area of the mining vehicle is obtained.
In the second step, when the mining vehicle is used for unloading, the curve is divided from the starting point or the end point of the unloading boundary curve to determine an unloading parking area; and during unloading, after the cloud control platform deflects the starting point or the end point of the unloading boundary curve to one side by half of a safe unloading distance along the curve, and then the curve is divided to determine an unloading parking area.
Compared with the prior art, the control system can position the bulldozer in real time by dotting the switch, the differential GPS antenna and the receiver at the GPS position on the bulldozer, the cloud control platform can search the corresponding GPS position of the bulldozer from time, and the position of the unloading parking area of the mining vehicle is calculated by combining the received point cloud of the GPS track of the bulldozer, so that the mining vehicle can be automatically driven to automatically unload.
According to the control method, the discharging boundary information and the bulldozer position information are collected through the GPS position dotting switch and the differential GPS antenna which are arranged on the bulldozer and are sent to the cloud control platform through the remote terminal, the cloud control platform generates the position of the unloading parking area of the mining vehicle according to the received information, the automatic driving mining vehicle can automatically execute the discharging task according to the discharging position, the degree of intelligence is high, the work is reliable, and the technical problems and risks existing in the discharging process of the automatic driving mining vehicle can be solved.
Furthermore, when the invention is used for discharging, two segmentation methods are adopted to be carried out in turn, so that the smooth boundary of the discharging area can be ensured.
Drawings
FIG. 1 is a logic block diagram of a control system of the present invention;
FIG. 2 is a schematic diagram of selecting a new unloading boundary in combination with an electronic map according to the present invention;
fig. 3 is a schematic diagram of the segmentation of the unloading parking area in the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, the cloud control system for the unloading process of the automatic driving mining vehicle comprises a GPS position dotting switch, a differential GPS antenna, a receiver and a remote terminal which are arranged on a bulldozer, and a cloud control platform and the automatic driving mining vehicle which are based on the internet;
the differential GPS antenna is connected with the receiver and is used for receiving GPS satellite positioning signals and sending the GPS satellite positioning signals to the receiver;
the receiver is used for processing and resolving the GPS satellite positioning signal to obtain accurate position information of the bulldozer;
the receiver and the GPS position dotting switch are connected with a remote terminal, the remote terminal is connected with a cloud control platform, and the cloud control platform is connected with an automatic driving mining vehicle;
the GPS position dotting switch is a self-reset switch and is used for recording the unloading edge track and GPS time information;
the remote terminal is used for collecting information recorded by a real-time position and GPS position dotting switch of the bulldozer and uploading the information to the cloud control platform;
the cloud control platform is used for searching the corresponding bulldozer GPS position from time, calculating to obtain the position of the unloading parking area of the mining vehicle by combining the received bulldozer GPS track point cloud, and sending the position information as a parking instruction to the automatic driving mining vehicle.
The control platform is a mining area automatic driving vehicle data storage calculation, digital map revision and vehicle control management platform constructed on an Internet server.
Referring to fig. 2 and 3, a control method of a cloud control system for an automatic driving mining vehicle unloading process includes the following steps:
acquiring unloading boundary information and bulldozer position information through a GPS position dotting switch, a differential GPS antenna and a receiver arranged on a bulldozer, and sending the unloading boundary information and the bulldozer position information to a cloud control platform through a remote terminal, wherein the cloud control platform generates the position of a mining vehicle unloading parking area according to the received information;
when the number of operating vehicles in the unloading area is small or before the unloading operation is started each time, a boundary recording method is adopted, the bulldozer starts to drive along the edge of the unloading area from a starting point, a GPS position dotting switch is pressed at the beginning, the cloud platform starts to record the boundary curve of the unloading area, when the unloading edge is at an end point, the GPS position dotting switch is pressed again, the cloud platform finishes recording the boundary curve, then the digital map of the unloading area is corrected, and the curve is divided according to the safe unloading distance from the starting point so as to determine the position of the unloading parking area of the mining vehicle.
When a lot of working vehicles exist in the unloading area, a point cloud extraction method is adopted, the cloud platform extracts edge points from GPS track point cloud collected by a differential GPS antenna on a bulldozer by using an edge detection algorithm, only part of the extracted edge points are the unloading area boundary, the edge points are corrected by combining a digital map to form a boundary curve of the unloading area, and the boundary curve is divided from the curve starting point according to the safe unloading interval so as to determine the position of the unloading parking area of the mine vehicle.
Referring to fig. 2, h is the original specified unloading area boundary in the electronic map, m and n are curves fitted by extracting edge points from the bulldozer GPS track point cloud, m is the inner curve of the original unloading area boundary, n is the outer curve, and A, B is the unloading boundary starting point. Only the curve n outside h is the newly formed discharge area boundary.
Referring to fig. 3, starting from the starting point a of the boundary curve of the unloading area, the curve is divided according to the safe unloading parking space to obtain S 1 、S 2 、S 3 And the point locations are used as the right rear point of the parking area, the tangential direction is used as the left side of the parking area, so that the longitude and latitude positions of the left rear point, the left front point and the right front point of the parking area are calculated according to the length and the width of the vehicle, and the position of the complete unloading parking area of the mining vehicle is obtained.
Secondly, the cloud control platform sends the position of the unloading parking area of the mining car to the designated mining car, the mining car carries out unloading to the designated position, and when the mining car carries out unloading operation, the curve is divided from the starting point or the end point of the unloading boundary curve to determine the unloading parking area; and then, during each discharging, after the cloud control platform deflects the starting point or the end point of the discharging boundary curve to one side by half of the safe discharging distance along the curve, the curve is divided to determine a discharging parking area.
During the first round of unloading operation of the mining vehicle, the unloading parking area is determined by dividing the curve from the starting point of the unloading boundary curve, such as the point A shown in fig. 3. And during the second round of unloading, after the cloud control platform deflects the starting point of the unloading boundary curve to one side by half of the safe unloading distance along the curve, the curve is divided again to determine an unloading parking area. And the third round divides the curve from the end point of the unloading boundary curve, namely the point B shown in figure 3, to determine an unloading parking area. And during fourth-wheel unloading, after the cloud control platform deflects the end point of the unloading boundary curve to one side by half of the safe unloading distance along the curve, the curve is divided again to determine an unloading parking area. And by parity of reasoning, orderly and uniformly discharging.
And (4) safely controlling the parking and unloading process. In the parking and unloading process, the automatic driving mine car monitors the attitude angle and the attitude change rate which are continuously output by the self inertial navigation system in real time. When any one of the two parameters exceeds a specified safety range, if the vehicle is in a parking process, immediately parking, driving the vehicle back to a parking starting position, and reporting a fault to the cloud control platform; and if the vehicle is in the unloading process, stopping lifting the large box, controlling the large box to fall back to the place, lifting the large box again for unloading, and if the vehicle still exceeds the range, falling the large box back and reporting the fault to the cloud control platform. And the cloud control platform changes the unloading area and informs a bulldozer driver of flattening the road surface.
Claims (7)
1. A cloud control system for the unloading process of an automatic driving mining vehicle is characterized by comprising a GPS position dotting switch, a differential GPS antenna, a receiver and a remote terminal which are arranged on a bulldozer, and a cloud control platform and the automatic driving mining vehicle based on the Internet;
the differential GPS antenna is connected with the receiver and is used for receiving GPS satellite positioning signals and sending the GPS satellite positioning signals to the receiver;
the receiver is used for processing and resolving the GPS satellite positioning signal to obtain accurate position information of the bulldozer;
the receiver and the GPS position dotting switch are connected with a remote terminal, the remote terminal is connected with a cloud control platform, and the cloud control platform is connected with an automatic driving mining vehicle;
the GPS position dotting switch is a self-reset switch and is used for recording the unloading edge track and GPS time information;
the remote terminal is used for collecting information recorded by a real-time position and GPS position dotting switch of the bulldozer and uploading the information to the cloud control platform;
the cloud control platform is used for searching the corresponding bulldozer GPS position from time, calculating to obtain the position of the unloading parking area of the mining vehicle by combining the received bulldozer GPS track point cloud, and issuing the position information as a parking instruction to the automatic driving mining vehicle.
2. The cloud control system for the unloading process of the automatically driven mining vehicle as claimed in claim 1, wherein the cloud control platform is a mining area automatically driven vehicle data storage calculation, digital map revision and vehicle control management platform constructed on an Internet server.
3. The control method of the automatic driving mining vehicle unloading process cloud control system according to claim 1, characterized by comprising the following steps:
acquiring unloading boundary information and bulldozer position information through a GPS position dotting switch, a differential GPS antenna and a receiver arranged on a bulldozer, and sending the unloading boundary information and the bulldozer position information to a cloud control platform through a remote terminal, wherein the cloud control platform generates the position of a mining vehicle unloading parking area according to the received information;
and step two, the cloud control platform sends the position of the unloading parking area of the mining car to the appointed mining car, and the mining car unloads the material to the appointed position.
4. The control method according to claim 3, wherein in the first step, when the number of the working vehicles in the unloading area is small, or before each unloading operation is started, the bulldozer is enabled to drive along the edge of the unloading area from a starting point, the GPS position dotting switch is pressed at the beginning, the cloud control platform starts to record the boundary curve of the unloading area, when the unloading edge is reached, the GPS position dotting switch is pressed again, the cloud control platform finishes recording the boundary curve, then the digital map of the unloading area is corrected, and the digital map is divided according to the safe unloading distance from the curve starting point so as to determine the position of the mining vehicle for unloading the parking area.
5. The control method according to claim 3, wherein in the first step, when the number of the working vehicles in the unloading area is large, the cloud control platform extracts edge points from the GPS track point cloud collected by the differential GPS antenna and the receiver on the bulldozer by using an edge detection algorithm, corrects the edge points by combining a digital map to form a boundary curve of the unloading area, and divides the curve from the starting point according to the safe unloading distance so as to determine the position of the unloading parking area of the mining vehicle.
6. The control method according to claim 3, characterized in that in the first step, the position generating method for unloading the parking area of the mining vehicle is as follows:
and (3) dividing the curve according to the safe unloading parking space from the starting point of the boundary curve of the unloading area to obtain a series of point locations, wherein the point locations are used as the right rear point of the parking area, and the tangent direction is used as the left side of the parking area, so that the longitude and latitude positions of the left rear point, the left front point and the right front point of the parking area are calculated according to the length of the vehicle and the width of the vehicle, and the position of the complete unloading parking area of the mining vehicle is obtained.
7. The control method according to claim 3, characterized in that in the second step, when the mining vehicle is in unloading operation, the curve is divided from the starting point or the end point of the unloading boundary curve to determine an unloading parking area; and during unloading, after the cloud control platform deflects the starting point or the end point of the unloading boundary curve to one side by half of a safe unloading distance along the curve, and then the curve is divided to determine an unloading parking area.
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| WO2016060281A1 (en) * | 2015-10-30 | 2016-04-21 | 株式会社小松製作所 | Control system for work machine, work machine, management system for work machine, and control method and program for work machine |
| CN106121654B (en) * | 2016-08-19 | 2018-03-09 | 郑晓辉 | A kind of unmanned excavation of surface mine loads transportation system |
| CN108773381A (en) * | 2018-06-06 | 2018-11-09 | 厦门矿通科技有限公司 | A kind of mine rail locomotive unmanned automatic driving system based on car running computer control |
| CN108873904B (en) * | 2018-07-04 | 2021-01-22 | 北京踏歌智行科技有限公司 | Unmanned parking method and device for mining vehicle and readable storage medium |
| CN109532825A (en) * | 2019-01-25 | 2019-03-29 | 深圳普思英察科技有限公司 | Unmanned vehicle automatic parking householder method and system based on GPS |
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