CN111260913A - Unloading method and system for mining truck of unmanned transportation system of surface mine - Google Patents
Unloading method and system for mining truck of unmanned transportation system of surface mine Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/048—Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
- H04L63/0815—Network architectures or network communication protocols for network security for authentication of entities providing single-sign-on or federations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
- H04L63/083—Network architectures or network communication protocols for network security for authentication of entities using passwords
Abstract
The invention discloses a method and a system for unloading a mining truck of an unmanned transportation system of a surface mine. When the retaining wall changes or a temporary barrier which is not registered is met, the mining truck arrives at an unloading area, environment sensing is carried out by using a radar, when the barrier is detected to be in a certain distance behind the center of the rear tire, whether the barrier is the retaining wall or not is judged, and if the barrier is the retaining wall, an instruction is sent to the mining truck for unloading; if not, replanning a new driving path and sending to the mining truck. When the truck arrives at the unloading area and backs to the target unloading point, the backing speed of the truck suddenly becomes zero, and the speed is kept to be zero in a certain time, so that the fact that the rear tire of the truck touches the retaining wall is indicated. The mining truck can safely reach the target unloading point by positioning, sensing and controlling.
Description
Technical Field
The invention belongs to the technical field of unmanned surface mine driving, and relates to a method and a system for unloading a mining truck of an unmanned surface mine transportation system.
Background
With the development of artificial intelligence, unmanned technology is applied to the field of engineering machinery, a truck in an unmanned transport system of an open mine is a necessary operation scene for unloading materials, the unloading point is usually selected by an operator according to experience in the unloading process, and whether an unmanned vehicle for transporting materials before unloading can safely and accurately stop at a planned unloading point is also important, so that the unmanned transport system has important significance in solving the problem of selecting the unloading point or the stopping mode of an unmanned mining truck from the viewpoints of intelligence and safety. The reasonable unloading point and the parking mode are the premise that the unmanned vehicle can be safely unloaded, and meanwhile, the working efficiency of the unmanned transportation system can be improved.
The prior art has the following defects: (1) the whole operation process of driving by people in a mining area completely depends on manual operation, the general transport vehicle has large volume, large tonnage, large inertia and more blind areas, and serious potential safety hazards exist when whether the general transport vehicle reaches a proper unloading point or not is estimated by the experience of operators. (2) The patent CN201010203482.2 describes an unloading method for preventing the dumping of an electric wheel automobile dump, a slope with gradually higher height is rolled out along the backing direction of the automobile when the automobile dumps mine, a safety car bumper is formed by pushing soil and soil on the spot by a bulldozer, the situation can cause the electric wheel automobile to slide, which brings serious potential safety hazards to operators and vehicles; meanwhile, the unloading point is not reasonably planned, and the condition that the safety gear changes is not considered, so that the working efficiency is greatly reduced. (3) The patent CN201910381918.8 has the following disadvantages: when the mining truck is close to the electric shovel, the license plate scanning on the mining truck is identified through the vehicle identification end and then automatically controlled, the identification result is not timely fed back to make judgment, if false detection occurs, the situation of misoperation occurs, and the working efficiency is reduced while potential safety hazards are brought. Moreover, the actual loading scene is not the same as the unloading scene, the loading scene is considered to be safe, the matching use of the mining truck and the forklift is also considered, whether effective loading is finished or not is judged, the most important unloading point is selected, the unloading point is improperly selected, and serious accidents can occur.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a method and a system for unloading a mining truck of an unmanned transportation system of a surface mine.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the first aspect provides a mining truck unloading system of an unmanned transportation system of a surface mine, which comprises a cluster dispatching center and a mining truck, wherein the cluster dispatching center is in communication connection with the mining truck;
the mining truck comprises:
a speed monitoring module to: monitoring the speed of the mining truck, and uploading the speed to a cluster dispatching center;
a navigation positioning module, comprising a GPS and an inertial navigation system, for: monitoring position information of the mining truck, and uploading the position information to a cluster dispatching center; receiving path planning navigation information issued by a cluster dispatching center, and reaching a target unloading point according to the path planning navigation information;
the environment sensing module comprises a laser radar and is used for acquiring surrounding environment data of the mining truck and uploading the surrounding environment data to the cluster dispatching center; the laser radar is installed in the center of the rear of the mining truck and used for detecting the barrier and the retaining wall and carrying out three-dimensional point cloud scanning on the barrier and the retaining wall to obtain three-dimensional point cloud data;
the machine group dispatching center comprises a computer control device and is used for obtaining three-dimensional point cloud data obtained by scanning of a laser radar of the mining truck, judging whether the position of a retaining wall changes or not and whether an obstacle exists or not, carrying out three-dimensional modeling on the retaining wall and the obstacle, calculating a reasonable target unloading point, carrying out path planning and issuing path planning navigation information to the mining truck.
The cluster dispatching center also comprises a wireless remote emergency stop system, and is used for sending a stop instruction to the mining truck for emergency stop through a wireless emergency stop button when a navigation positioning module and an environment sensing module of the mining truck fail or are in emergency.
In some embodiments, the cluster scheduling center further includes a login authentication system, where the login authentication system is used to perform authentication and authorization on the user identity, and includes login authentication, login maintenance, and login logout; the login authentication means that a client inputs a user name and a password and sends the user name and the password to a cluster server to make a login request, and the cluster server judges whether the client can log in and confirms the client; the login maintenance means that after the client logs in, the cluster server can distinguish the logged-in client and continuously provide login authority for the logged-in client; the login logout means that the client actively logs out of a login state, and the server finishes logout of the user after the user sends a logout request to the server.
In some embodiments, the fleet scheduling center further includes a human-computer interaction interface of a map system for interfacing the real-time operation trajectory of the mining truck and the three-dimensional stereo graph and the planned unloading point processed by the computation control device.
In some embodiments, the mining truck unloading system of the surface mine unmanned transportation system further comprises a bulldozer located in the unloading area, the bulldozer is provided with a portable mobile terminal, an operator of the bulldozer sends a request for login to the fleet scheduling center through the portable mobile terminal, and the fleet scheduling center allows the user to give an approach instruction to the mining truck and give unloading point position information after login.
In a second aspect, there is provided a method of unloading a mining truck of an unmanned transport system for a surface mine, comprising:
when the mining truck drives to an entrance of an unloading area to wait for an entrance queue point, a bulldozer operator inputs a user name and a password at a client of a mobile terminal, sends a login request to a cluster scheduling center, after the login request passes, the cluster scheduling center issues target unloading point and path planning navigation information to the mining truck, the mining truck receives the target unloading point and the path planning navigation information, tracks and drives according to the path planning navigation information, judges whether the mining truck reaches the target unloading point, and unloads in response to the judgment that the mining truck reaches the target unloading point.
The target unloading point is selected by the cluster dispatching center according to the size of the mining truck and the distance position between the mining truck and the retaining wall,
(1) the position of the central point of the rear wheel is located in the unloading area, so that the length of a 2L/5 container of the mining truck is arranged on the outer side of the retaining wall, and the length of a 3L/5 container is arranged on the inner side of the retaining wall;
(2) the distance between the central line of the rear wheel and the retaining wall is s meters;
and s is the distance from the central line of the rear wheel of the mining truck to the retaining wall, wherein according to the size of the truck body, s is 1.5m, and the error offset △ d belongs to-0.5 m and 0.5 m.
Judging whether the mining truck reaches a target unloading point or not, comprising the following steps:
and acquiring the position information of the mining truck through a navigation positioning module, comparing the position information of the mining truck with the target unloading point, and judging whether the mining truck reaches the target unloading point.
When the position of a retaining wall changes or no registered barrier is encountered, acquiring surrounding environment data of the mining truck through an environment sensing module, and stopping when a mining truck backing radar detects that a barrier exists at a certain distance behind a truck body according to the surrounding environment data of the mining truck, wherein the surrounding environment data of the mining truck comprises surrounding barrier information of the mining truck, and uploading the parking to a cluster dispatching center;
the cluster dispatching center judges whether a barrier behind the mining truck is a retaining wall according to three-dimensional point cloud data obtained by scanning of the multi-line laser radar, and sends an instruction to the mining truck to unload in response to the judgment that the barrier is the retaining wall;
if the target unloading point is not the retaining wall, the cluster dispatching center replans a new driving path and sends the driving path to the mining truck according to the information fed back by the mining truck, and the mining truck receives the new driving path and then drives to the new target unloading point along the track to stop and unload.
The speed monitoring module is used for monitoring the speed of the mining truck in an unloading area, when the backward speed is suddenly changed to zero and the speed is always zero in a set time period, judging that the rear tire of the mining truck touches a retaining wall and sending the retaining wall to a cluster dispatching center for prompting, personnel in the cluster dispatching center sends a parking instruction to the mining truck for emergency parking by operating a wireless emergency stop button of a wireless remote emergency stop system and sends an instruction to switch the driving mode of the mining truck from an unmanned driving mode to a manned driving mode, and the mining truck is driven away from a dump site through manual intervention.
Has the advantages that: the invention provides a mining truck unloading method and a mining truck unloading system for an unmanned transportation system of a surface mine. When the retaining wall changes or no-man mine card meets an unregistered obstacle, the truck reaches an unloading area, environment sensing is carried out by using a radar, when the obstacle is detected to be in a certain distance behind the center of a rear tire, whether the obstacle is the retaining wall or not is judged, and if the obstacle is the retaining wall, an instruction is sent to the mine truck to unload; if not, replanning a new driving path and sending to the mining truck. When the truck reaches the unloading area and backs to the target unloading point, the backing speed of the truck suddenly becomes zero, and the speed is kept to be zero within a certain time, which indicates that the rear tire of the truck touches the retaining wall and reaches the limit position. The positioning, sensing and controlling device provides three insurance for the unmanned mining truck to safely reach a target unloading point, solves the problem of improper parking, thereby preventing accidents and greatly improving the parking efficiency and safety.
Drawings
FIG. 1 is a schematic illustration of a mining truck unloading system of an embodiment of a surface mine unmanned transport system;
FIG. 2 is a plot of an example mine truck unloading site;
FIG. 3 is a diagram showing the positional relationship between a mining truck and a retaining wall in the target unloading point selection in the embodiment;
FIG. 4 is a flow chart of the unloading process under the positioning mechanism in the embodiment;
FIG. 5 is a flow chart of offloading under the context aware mechanism in an embodiment;
FIG. 6 is a flow chart of unloading under the control mechanism in the embodiment.
Detailed Description
The present invention will be further described with reference to the following examples.
Example 1
A mining truck unloading system of an unmanned transportation system of a surface mine comprises a cluster dispatching center and a mining truck, wherein the cluster dispatching center is in communication connection with the mining truck and a mobile terminal;
the mining truck comprises:
a speed monitoring module to: monitoring the speed of the mining truck, and uploading the speed to a cluster dispatching center;
a navigation positioning module, comprising a GPS and an inertial navigation system, for: monitoring position information of the mining truck, and uploading the position information to a cluster dispatching center; receiving path planning navigation information issued by a cluster dispatching center, and reaching a target unloading point according to the path planning navigation information;
the environment sensing module comprises a laser radar and is used for acquiring surrounding environment data of the mining truck and uploading the surrounding environment data to the cluster dispatching center; the laser radar is installed in the center of the rear of the mining truck and used for detecting the barrier and the retaining wall and carrying out three-dimensional point cloud scanning on the barrier and the retaining wall to obtain three-dimensional point cloud data;
the machine group dispatching center comprises a computer control device and is used for obtaining three-dimensional point cloud data obtained by scanning of a laser radar of the mining truck, judging whether the position of a retaining wall changes or not and whether an obstacle exists or not, carrying out three-dimensional modeling on the retaining wall and the obstacle, calculating a reasonable target unloading point, carrying out path planning and issuing path planning navigation information to the mining truck.
The cluster dispatching center also comprises a wireless remote emergency stop system, and is used for sending a stop instruction to the mining truck for emergency stop through a wireless emergency stop button when a navigation positioning module and an environment sensing module of the mining truck fail or are in emergency.
The mining truck also comprises a control module which is used for longitudinal control of the unmanned mining truck and mainly controls the speed and the acceleration of the unmanned mining truck when the unmanned mining truck backs up, when the speed suddenly changes to zero when the unmanned mining truck backs up and the speed is still zero in a period of time, the situation that the truck tire touches an obstacle or a retaining wall is indicated, and the speed value obtained by the speed sensor is sent to a computer control device of a cluster dispatching center through can communication or other communication modes.
The cluster scheduling center also comprises a login authentication system, wherein the login authentication system is used for verifying and authorizing the identity of a user and comprises three parts of login verification, login maintenance and login logout; the login authentication means that a client inputs a user name and a password and sends the user name and the password to a cluster server to make a login request, and the cluster server judges whether the client can log in and confirms the client; the login maintenance means that after the client logs in, the cluster server can distinguish the logged-in client and continuously provide login authority for the logged-in client; the login logout means that the client actively logs out of a login state, and the server finishes logout of the user after the user sends a logout request to the server.
The machine group dispatching center also comprises a man-machine interaction interface of a map system, and the man-machine interaction interface is used for carrying out interface display on the real-time running track of the mining truck, the three-dimensional stereo graph processed by the computing control device and the planned unloading point.
The machine group dispatching personnel uses machine group dispatching software to use the collected complete dump map for the driving path of the unmanned mining truck in the dump and appoint unloading points, and sends the unloading points to the unmanned mining truck, the machine group control center controls the normal starting and stopping of the unmanned mining truck, and the mining truck drives along the track according to the driving path planned by the dispatching personnel.
In some embodiments, the mining truck unloading system of the surface mine unmanned transportation system further comprises a bulldozer located in the unloading area, the bulldozer is provided with a portable mobile terminal, an operator of the bulldozer sends a request for login to the fleet scheduling center through the portable mobile terminal, and the fleet scheduling center allows the user to give an approach instruction to the mining truck and give unloading point position information after login.
The bulldozer is mainly used for cleaning materials thrown in a dump and finishing a retaining wall. And queue waiting points are arranged at the entrances of the unloading areas, and when the mining truck runs to the queue waiting points, the mining truck automatically stops to wait for the cluster dispatching center to allow an approach instruction. A bulldozer operator in the unloading area sends a request for login to the cluster dispatching center through the portable mobile terminal, and the cluster dispatching center gives an approach instruction to the unmanned mining truck and gives unloading point position information after allowing login. In order to standardize the command source, the mining truck only receives the command of the cluster dispatching center and the emergency stop command of the portable mobile terminal emergency stop device.
Example 2
A method for unloading a mining truck of an unmanned transport system of a surface mine, comprising:
when the mining truck drives to an entrance of an unloading area to wait for an entrance queue point, a bulldozer operator inputs a user name and a password at a client of a mobile terminal, sends a login request to a cluster scheduling center, after the login request passes, the cluster scheduling center issues target unloading point and path planning navigation information to the mining truck, the mining truck receives the target unloading point and the path planning navigation information, tracks and drives according to the path planning navigation information, judges whether the mining truck reaches the target unloading point, and unloads in response to the judgment that the mining truck reaches the target unloading point.
The target unloading point is selected by the cluster dispatching center according to the size of the mining truck and the distance position between the mining truck and the retaining wall,
(1) the position of the central point of the rear wheel is located in the unloading area, so that the length of a 2L/5 container of the mining truck is arranged on the outer side of the retaining wall, and the length of a 3L/5 container is arranged on the inner side of the retaining wall;
(2) the distance between the central line of the rear wheel and the retaining wall is about s meters;
l is the distance from the central line of the rear wheel to the tail end of the mining truck, s is the distance from the central line of the rear wheel of the mining truck to the retaining wall, s is 1.5m according to the size of a truck body, the error offset is △ d belongs to-0.5 m and 0.5m,
judging whether the mining truck reaches a target unloading point or not, comprising the following steps:
and acquiring the position information of the mining truck through a navigation positioning module, comparing the position information of the mining truck with the target unloading point, and judging whether the mining truck reaches the target unloading point.
The method comprises the steps that surrounding environment data of the mining truck are obtained through an environment sensing module, the surrounding environment data of the mining truck comprise surrounding obstacle information of the mining truck, when a mining truck backing radar detects that an obstacle exists in a certain distance behind a truck body, the truck is stopped and the truck is uploaded to a cluster dispatching center;
the cluster dispatching center judges whether a barrier behind the mining truck is a retaining wall according to three-dimensional point cloud data obtained by scanning of the multi-line laser radar, and sends an instruction to the mining truck to unload in response to the judgment that the barrier is the retaining wall;
if the target unloading point is not the retaining wall, the cluster dispatching center replans a new driving path and sends the driving path to the mining truck according to the information fed back by the mining truck, and the mining truck receives the new driving path and then drives to the new target unloading point along the track to stop and unload.
The speed monitoring module is used for monitoring the speed of the mining truck in an unloading area, when the backward speed is suddenly changed to zero and the speed is always zero in a set time period, judging that the rear tire of the mining truck touches a retaining wall and sending the retaining wall to a cluster dispatching center for prompting, personnel in the cluster dispatching center sends a parking instruction to the mining truck for emergency parking by operating a wireless emergency stop button of a wireless remote emergency stop system and sends an instruction to switch the driving mode of the mining truck from an unmanned driving mode to a manned driving mode, and the mining truck is driven away from a dump site through manual intervention.
With reference to fig. 1, an unloading cooperative system in an unmanned transportation system of a surface mine mainly works in an earth dump in the mine, and the earth dump has an unmanned mining truck, a bulldozer and a bulldozer operator.
In order to achieve the above object, with reference to fig. 2, an unloading coordination system in an unmanned transportation system of a surface mine includes at least one unmanned mining truck, a cluster dispatching center, and a bulldozer equipped with a portable mobile terminal.
The unmanned mining truck is provided with a control device of a GPS, an inertial navigation system, a laser radar, an industrial personal computer and a PLC controller. The GPS/GNSS is mainly used for navigation and positioning, provides high-precision position information for the unmanned mining truck, and feeds back the driving speed and the course angle of each time point in real time. The laser radar achieves the purpose of environmental perception by acquiring data of the surrounding environment, the laser radar performs three-dimensional point cloud scanning on a barrier or a retaining wall, and the obtained original three-dimensional point cloud data is sent to a computer control device of a cluster dispatching center through network communication; the industrial personal computer and the PLC mainly control the driving, tracking, steering and backing of the whole mining truck.
The cluster dispatching center mainly comprises cluster dispatching personnel, a computer control device, a server, cluster dispatching software, a man-machine interaction interface of a map system, a login authentication system and a wireless remote emergency stop system.
And planning the running path of the mining truck in the refuse dump by using cluster scheduling software according to the acquired complete unloading area map, and issuing the running path to the unmanned mining truck, wherein the mining truck runs to an unloading point along the track according to the running path planned by the cluster scheduling personnel. And the computer control device controls the normal starting and stopping of the unmanned mining truck by receiving data fed back by the portable mobile terminal on the bulldozer and the unmanned mining truck. And a human-computer interaction interface of the map system is connected with the computer control device through a VGA video transmission line and is used for displaying a map arranging field, a real-time running track of the unmanned mining truck, a three-dimensional figure processed by the computer control device and a planned unloading point. The login authentication system is characterized in that when an unmanned mining truck drives to an entrance of an unloading area to wait for an entrance queue point, a bulldozer operator knows that the mining truck is at the queue point, inputs a user name and a password at a portable client, sends the user name and the password to a cluster server to provide a login application, provides the login application to a cluster, and the cluster server judges whether the client can log in and confirms to the client. After the request application is passed, the cluster dispatching center sends unloading point position information and an entrance-permitting instruction to the unmanned mining truck. The wireless remote emergency stop system is mainly used for carrying out emergency stop and stop processing on a vehicle under the condition that a positioning device and a sensing module of a truck are invalid or in some emergency situations.
The bulldozer is operated by a bulldozer operator, and the bulldozer is also provided with a portable mobile terminal which is communicated with an unmanned mining truck and a fleet dispatching center. When the unloading area in the waste dump has the thrown materials, the bulldozer needs to clean in time; when the retaining wall changes, the bulldozer is used for finishing the retaining wall. The portable mobile terminal is mainly used for communicating with a cluster dispatching center, and the purpose that the unmanned mining truck can enter a refuse dump is achieved.
A triple cooperative mode is provided for safely and effectively stopping an unmanned mining truck at an unloading point in an unloading area:
1. unloading and parking in a positioning mode;
2. unloading and parking in an environment sensing mode;
3. unloading and parking in a control mode.
The above three ways are explained in detail with reference to the drawings.
With reference to fig. 3, unmanned mining truck positioning is achieved through GPS inertial navigation, which provides a first mechanism, and most basic, for unloading and parking of mining trucks. The method comprises the steps that a queue waiting point is arranged at an entrance of a dumping site, an unmanned mining truck drives to a dumping site opening and stops at the queue waiting point to automatically stop and wait for a cluster dispatching center to allow an entrance instruction, a bulldozer operator in an unloading area inputs a related user name on a portable mobile terminal and sends the related user name to the cluster dispatching center to apply for login to the cluster and allow the mining truck to enter the site, the cluster dispatching center agrees to login and sends an unloading area map to the unmanned mining truck, the mining truck receives the unloading area and enters the site to drive according to the map tracking, the GPS inertial navigation mounted on the unmanned mining truck is used for positioning in the process, and when the mining truck tracks to the unloading point in the map, the mining truck stops and prepares for unloading materials.
With reference to fig. 4, after the unmanned mining truck travels to the unloading area, in order to safely and effectively unload the unmanned mining truck, the unmanned mining truck needs to accurately reach the unloading point specified by the cluster dispatching center. The unloading point is selected according to the size of the mining truck and the distance position from the retaining wall, and has two constraint conditions:
(1) the position of the central point of the rear wheel is located in the unloading area, so that the length of a 2L/5 container of the mining truck is arranged on the outer side of the retaining wall, and the length of a 3L/5 container is arranged on the inner side of the retaining wall;
(2) the distance between the center of the rear wheel and the retaining wall is about s meters.
The target unloading point is a point in an unloading area, the mining truck is parked reversely at the target unloading point, the target unloading point is an ideal parking state, the mining truck is allowed to park in an error, the offset is △ d e < -0.5m and 0.5m, s is 1.5m according to the size of a truck body, when the parking position of the mining truck meets the two constraint conditions, the error of the unmanned mining truck stopping at the target unloading point is very small, and the aim of safe and effective parking before unloading is achieved.
With reference to fig. 5, the mechanism is subject to a special condition when there is an obstruction other than a retaining wall in the dump; or when the position of the retaining wall changes and a new unloading point is not registered in time by the cluster scheduling center, the laser radar installed on the unmanned mining truck is used for sensing the environment, when the mining truck retreating radar detects that an obstacle exists at a certain distance behind the truck body, the truck is stopped, at the moment, the state of the mining truck is fed back to the cluster scheduling center, and if the retaining wall is judged, an instruction is sent to the mining truck to allow unloading. If the road is not a retaining wall and is an obstacle, the cluster dispatching center replans a new driving path and sends the new driving path to the mining truck according to the information fed back by the mining truck, and the mining truck receives the replanned map and then drives to a new unloading point along a track to stop and unload.
With reference to fig. 6, the third mechanism is that the backward speed of the mining truck in the unloading area is suddenly changed to zero, the speed is always zero in the △ t time period, the rear tires of the unmanned mining truck touch the retaining wall, the state is fed back to the cluster dispatching center, a cluster dispatcher immediately presses an emergency stop button and changes the mode, the mining truck in the dumping area automatically stalls after receiving the signal of the emergency stop button of the cluster dispatching center, the previous unmanned driving mode is changed into a manned mode, and at the moment, the mining truck is driven away from the dumping area through manual intervention.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. A mining truck unloading system of an unmanned transportation system of a surface mine is characterized by comprising a machine group dispatching center and a mining truck, wherein the machine group dispatching center is in communication connection with the mining truck;
the mining truck comprises:
a speed monitoring module to: monitoring the speed of the mining truck, and uploading the speed to a cluster dispatching center;
a navigation positioning module, comprising a GPS and an inertial navigation system, for: monitoring position information of the mining truck, and uploading the position information to a cluster dispatching center; receiving path planning navigation information issued by a cluster dispatching center, and reaching a target unloading point according to the path planning navigation information;
the environment sensing module comprises a laser radar and is used for acquiring surrounding environment data of the mining truck and uploading the surrounding environment data to the cluster dispatching center; the laser radar is installed in the center of the rear of the mining truck and used for detecting the barrier and the retaining wall and carrying out three-dimensional point cloud scanning on the barrier and the retaining wall to obtain three-dimensional point cloud data;
the machine group dispatching center comprises a computer control device and is used for obtaining three-dimensional point cloud data obtained by scanning of a laser radar of the mining truck, judging whether the position of a retaining wall changes or not and whether an obstacle exists or not, carrying out three-dimensional modeling on the retaining wall and the obstacle, calculating a reasonable target unloading point, carrying out path planning and issuing path planning navigation information to the mining truck.
2. The unloading system for mining trucks of an unmanned surface mining transportation system of claim 1, wherein the fleet scheduling center further comprises a wireless remote emergency stop system for issuing a stop command to the mining truck for emergency stop via a wireless emergency stop button when the navigation positioning module and the environment sensing module of the mining truck fail or an emergency occurs.
3. The mining truck unloading system of the surface mine unmanned transportation system of claim 1, wherein the fleet scheduling center further comprises a login authentication system for verifying and authorizing the identity of the user, the login authentication system comprising login verification, login maintenance and login logout; the login authentication means that a client inputs a user name and a password and sends the user name and the password to a cluster server to make a login request, and the cluster server judges whether the client can log in and confirms the client; the login maintenance means that after the client logs in, the cluster server can distinguish the logged-in client and continuously provide login authority for the logged-in client; the login logout means that the client actively logs out of a login state, and the server finishes logout of the user after the user sends a logout request to the server.
4. The system of claim 1, wherein the fleet management center further comprises a human-machine interface of a map system for interfacing the real-time trajectory of the mining truck and the three-dimensional solid graphics and planned unloading points processed by the computing and control device.
5. The mining truck unloading system of the surface mine unmanned transportation system of claim 1, further comprising a bulldozer located in the unloading area, the bulldozer being equipped with a portable mobile terminal, an operator of the bulldozer sending a request for log-in to the fleet scheduling center via the portable mobile terminal, the fleet scheduling center allowing a landing to give an approach to the mining truck and to give information on the location of the unloading point.
6. A method for unloading a mining truck of an unmanned transport system of a surface mine, comprising:
when the mining truck drives to an entrance of an unloading area to wait for an entrance queue point, a bulldozer operator inputs a user name and a password at a client of a mobile terminal, sends a login request to a cluster scheduling center, after the login request passes, the cluster scheduling center issues target unloading point and path planning navigation information to the mining truck, the mining truck receives the target unloading point and the path planning navigation information, tracks and drives according to the path planning navigation information, judges whether the mining truck reaches the target unloading point, and unloads in response to the judgment that the mining truck reaches the target unloading point.
7. The method of unloading mining trucks of a surface mine unmanned transportation system of claim 1, wherein the target unloading point is selected for a fleet dispatch center based on mining truck size and location from a retaining wall,
(1) the position of the central point of the rear wheel is located in the unloading area, so that the length of a 2L/5 container of the mining truck is arranged on the outer side of the retaining wall, and the length of a 3L/5 container is arranged on the inner side of the retaining wall;
(2) the distance between the central line of the rear wheel and the retaining wall is s meters;
and s is the distance from the central line of the rear wheel of the mining truck to the retaining wall, wherein according to the size of the truck body, s is 1.5m, and the error offset △ d belongs to-0.5 m and 0.5 m.
8. The method of unloading a mining truck of a surface mine unmanned transportation system of claim 1, wherein determining whether the mining truck reaches the target unloading point comprises:
and acquiring the position information of the mining truck through a navigation positioning module, comparing the position information of the mining truck with the target unloading point, and judging whether the mining truck reaches the target unloading point.
9. The unloading method of the mining truck of the surface mine unmanned transportation system according to claim 1, wherein when the position of the retaining wall changes or an obstacle that is not registered in the fleet scheduling center is encountered, the environmental data around the mining truck is obtained through the environment sensing module, the environmental data around the mining truck includes information about the obstacle around the mining truck according to the environmental data around the mining truck, and the mining truck is stopped when the mine truck retreating radar detects that an obstacle exists at a certain distance behind the truck body and is uploaded to the fleet scheduling center;
the cluster dispatching center judges whether a barrier behind the mining truck is a retaining wall according to three-dimensional point cloud data obtained by scanning of the multi-line laser radar, and sends an instruction to the mining truck to unload in response to the judgment that the barrier is the retaining wall;
if the target unloading point is not the retaining wall, the cluster dispatching center replans a new driving path and sends the driving path to the mining truck according to the information fed back by the mining truck, and the mining truck receives the new driving path and then drives to the new target unloading point along the track to stop and unload.
10. The unloading method of the mining truck of the unmanned surface mine transportation system according to claim 1, wherein the speed monitoring module monitors the speed of the mining truck in the unloading area, when the backward speed is suddenly changed to zero and the speed is always zero within a set time period, it is determined that the rear tire of the mining truck touches the retaining wall and is sent to the fleet scheduling center for prompt, a fleet scheduling center worker operates a wireless emergency stop button of the wireless remote emergency stop system to send a parking instruction to the mining truck for emergency stop and a command to switch the driving mode of the mining truck from the unmanned driving mode to the manned driving mode, and the mining truck is driven away from the dump site through manual intervention.
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