CN112099499A - Unmanned transport vehicle, system, control method and readable storage medium - Google Patents
Unmanned transport vehicle, system, control method and readable storage medium Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 claims description 28
- 238000001514 detection method Methods 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 6
- 238000005065 mining Methods 0.000 abstract description 9
- 239000011435 rock Substances 0.000 description 5
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- 238000003491 array Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The invention discloses an unmanned transport vehicle, a system, a control method and a readable storage medium, wherein the transport vehicle comprises: the device comprises a control module, a camera and 2 or more active seismic source releasing modules, wherein the camera is connected with the control module; the seismic source signal released by the active seismic source releasing module is used for reversely showing the position of the active seismic source; the camera is arranged on a transport vehicle, and shoots to obtain an ambient environment image and feeds the ambient environment image back to the control module; and comparing whether the position of the active seismic source and the surrounding environment image shot by the camera are at the same position or not based on the image in the pre-stored surrounding environment image database, wherein if yes, the position is the current position of the transport vehicle, and the surrounding environment image database stores the surrounding environment images corresponding to different positions. The unmanned transport vehicle solves the problem that a GPS signal positioning method and a laser infrared control method are difficult to use in deep mining.
Description
Technical Field
The invention belongs to the technical field of unmanned transport vehicles, and particularly relates to an unmanned transport vehicle, an unmanned transport vehicle system, a control method and a readable storage medium.
Background
As resource demands continue to increase, mining depths continue to increase, and ground stress increases. In the traditional mining process, after the ores are exploded and crushed, workers need to drive a scraper, a mine car, a scraper, a trackless automobile and the like to carry out transportation and ore removal operation. Dynamic disturbance such as blasting excavation, mechanical operation and the like causes high stress transfer and release in a rock mass, dynamic disasters such as roof fall, rib spalling, rock burst and the like are easily induced, a large amount of mechanical damage and casualties are caused, and the life safety of workers is seriously threatened.
Therefore, the unmanned transport vehicle is developed to carry out ore transportation work in a deep mining area in a mine, so that casualties caused by geological disasters such as rock burst can be greatly reduced, and the life safety of workers is guaranteed. However, because deep mining roadways, mine rooms and pillars are zigzag stacked, GPS signals, laser infrared signals and the like cannot be transmitted in a deep mine at a long distance, and the GPS signal positioning method and the laser infrared control method adopted by the surface automatic driving vehicle are difficult to use in deep mining.
Disclosure of Invention
The invention aims to provide an unmanned transport vehicle, a system, a control method and a readable storage medium which can accurately position, replace the existing driving and transporting situation of workers, realize unmanned operation, greatly reduce casualties caused by geological disasters such as rock burst and the like, and guarantee the life safety of the workers.
In one aspect, the present invention provides an unmanned transport vehicle comprising: the system comprises a control module, a camera and 2 or more active seismic source releasing modules, wherein position connecting lines among the active seismic source releasing modules are at least parallel to a central axis of a vehicle, and the camera and a micro-seismic monitoring system are connected with the control module;
the seismic source signal released by the active seismic source releasing module is used for reversely showing the position of the active seismic source; the camera is arranged on a transport vehicle, and shoots to obtain an ambient environment image and feeds the ambient environment image back to the control module;
and comparing whether the position of the active seismic source and the surrounding environment image shot by the camera are at the same position or not based on the image in the pre-stored surrounding environment image database, wherein if yes, the position is the current position of the transport vehicle, and the surrounding environment image database stores the surrounding environment images corresponding to different positions.
Preferably, the transport vehicle further comprises a detection radar, which is connected to the control module.
Preferably, the detection radars are provided in front of the transport vehicle in both upper and lower positions, and at least 4 or more detection radars are arranged.
Preferably, the transport vehicle further comprises an infrared thermal image sensing module, and the infrared thermal image sensing module is connected with the control module.
Preferably, the haulage vehicle further includes a force sensor disposed between the haulage vehicle ore vehicle and the load-bearing floor, the force sensor being connected to the control module.
In a second aspect, the invention further provides a control system based on the transportation vehicle, which comprises a ground surface control center server and the transportation vehicle, wherein the ground surface control center server is connected with a control module of the transportation vehicle.
A control system of an unmanned transport vehicle comprises the transport vehicle, and a micro-seismic monitoring system is further arranged in the control system and used for acquiring seismic source signals released by an active seismic source releasing module. The microseismic monitoring system can be arranged at other positions of a mine; the microseismic monitoring system can be connected with the control module on the transport vehicle or connected with the ground surface central server, namely the control module or the ground surface central server inverts the position of the active seismic source based on the active seismic source acquired by the microseismic monitoring system. In addition, the microseismic monitoring system can also be a processor with a processing function, and can automatically invert the position of the active seismic source and feed back the position to the control module or the earth surface central server.
In a third aspect, the present invention further provides a control method based on the transportation vehicle, including:
acquiring a surrounding environment image of a current transport vehicle by using a camera;
triggering an impact vibration signal according to a preset time interval by using an active seismic source release module;
performing active seismic source positioning by using seismic source signals acquired by a micro-seismic monitoring system;
and comparing whether the position of the active seismic source and the surrounding environment image shot by the camera are at the same position or not based on the image in the pre-stored surrounding environment image database, wherein if yes, the position is the current position of the transport vehicle.
Preferably, the control method further includes:
monitoring the appearance of the front obstacle by using a detection radar, and controlling the transport vehicle to stop advancing until the obstacle is cleared;
and monitoring the existence of people in front by using the infrared thermal image sensing module, and controlling the transport vehicle to send an alarm.
In a fourth aspect, the present invention also provides a readable storage medium storing a computer program, the computer program being invoked by a processor to perform the steps of the control method.
Advantageous effects
The unmanned transport vehicle provided by the invention can be used for ore transportation in a deep mining area, so that casualties caused by geological disasters such as rock burst can be greatly reduced, and the life safety of workers is guaranteed. Meanwhile, the vehicle positioning is realized by utilizing the active seismic source positioning and the camera, the advantages of the seismic source positioning and image recognition technology are combined, and the defect that the GPS signal and the laser infrared signal cannot be transmitted in a long distance underground in a deep mining mine is ingeniously overcome.
Drawings
FIG. 1 is a block diagram of the overall components of an unmanned transportation vehicle according to an embodiment of the present invention;
fig. 2 is a distribution diagram of a mechanical active seismic source and intelligent force sensors and axles of a bottom plate of an unmanned transport vehicle provided by an embodiment of the invention.
Wherein the reference numbers are as follows: 1: 360 panorama high definition digtal camera, 2: control module, 3: cab interior lighting system, 4: protective cover for power system, 5: oil tank, 6: ore compartment, 7: obstacle detection radar, 8: alarm system, 9: infrared thermal image sensing module, 10: storage compartment, 11: mechanical active seismic source, 12: axle, 13: tire, 14: power system, 15: intelligent force sensor, 16: a load-bearing floor.
Detailed Description
The invention provides an unmanned transport vehicle which realizes vehicle positioning by utilizing an active seismic source positioning and image recognition technology and skillfully solves the problem that a GPS signal positioning method and a laser infrared control method adopted by an automatic ground surface driving vehicle are difficult to use in deep mining due to the fact that GPS signals, laser infrared signals and the like cannot be transmitted in a deep mine at a long distance. The present invention will be further described with reference to the following examples.
Example 1:
the unmanned transport vehicle provided by the embodiment of the invention is an unmanned transport vehicle in a mine. As shown in fig. 1, a transportation vehicle according to an embodiment of the present invention includes: the system comprises a control module 2, a 360-degree panoramic high-definition camera 1, 2 or more active seismic source releasing modules, a micro-seismic monitoring system, an obstacle detection radar 7, an alarm system 8, an infrared thermal image sensing module 9 and an intelligent force sensor 15. The 360-degree panoramic high-definition camera 1, the obstacle detection radar 7, the alarm system 8, the infrared thermal image sensing module 9 and the intelligent force sensor 15 are all connected with the control module 2, a processor is arranged in the control module 2, and a corresponding processing program is arranged in the processor and used for realizing data processing and control.
The 360-degree panoramic high-definition camera 1 is installed at the top in front of a cab of a transport vehicle, is connected with the control module 2 and is used for acquiring surrounding environment images on a running path. So that the subsequent comparison with the active seismic source position can be carried out to realize the positioning of the transport vehicle.
The obstacle detection radar 7 is arranged at the upper position and the lower position in front of the transport vehicle, at least 4 obstacle detection radars 7 are arranged on the loop line at the upper position and the lower position and used for monitoring whether an obstacle exists in the front of the transport vehicle and feeding back the obstacle to the control module 2, if the obstacle exists, the transport vehicle is controlled to stop advancing through the control module 2, and the control module 2 is connected with a brake control system of the transport vehicle.
The infrared thermal image sensing module 9 is arranged in the middle of the front of the transport vehicle and is used for judging whether workers exist in the front or not and feeding back the workers to the control module 2;
the alarm system 8 is arranged in the middle of the front of the transport vehicle and is used for giving an alarm when a worker is in the front, and the control module 2 controls the alarm system 8 to give an alarm to remind the worker to avoid.
An intelligent sensor 15 is mounted intermediate the ore car 6 and the load floor 16 and is operative to obtain the mass of ore inside the car and to feed back to the control module 2 when the ore mass reaches a load threshold, terminating the ore loading operation. In this embodiment, 5 intelligent force sensors 15 are preferably installed at four corners and the center of the ore carriage 6 of the transport vehicle, and are used for measuring the quality of the ore inside the ore carriage 6 in real time. When the quality of the ore in the ore carriage reaches the load limit threshold value, the control module 2 controls the alarm system 8 to give an alarm and feed back information to the ground surface control server to remind a loading equipment operator or control the loading equipment to stop loading.
In this embodiment, 3 active seismic source release modules, that is, mechanical active seismic sources 11, are arranged on a central line of the bottom of a transport vehicle, and trigger impact seismic signals at preset time intervals, and the generated seismic signals are transmitted to an earth surface control center server through an installed multi-channel high-precision microseismic monitoring system, wherein the hardware of the multi-channel high-precision microseismic monitoring system selected by different intelligent mines is not completely the same according to different manufacturers, for example, a wide IMS microseismic monitoring system is used, and the hardware mainly includes NetADC, NetSP, a time synchronization and time service module, a sensor and the like. In addition, in this embodiment, a ground surface control center server connected to the control module on the transportation vehicle is further provided, and the ground surface control center server is connected to the microseismic monitoring system and inverts the position of the active seismic source based on the active seismic source signal acquired by the microseismic monitoring system. In other feasible embodiments, the microseismic monitoring system is connected to the control module of the transport vehicle, and the active seismic source positioning can be realized by directly loading the active seismic source inversion program into the control module, which is not specifically limited in the present invention. In other possible embodiments, the number of active source release modules may be 4 or more, and the invention is not limited in this regard.
When the transport vehicle is specifically positioned: on the one hand, the position of the active seismic source is obtained by using active seismic source positioning, on the other hand, the surrounding environment image in a mine roadway is obtained in advance, a surrounding environment image database is built, then the current surrounding environment image obtained by a 360-degree panoramic high-definition camera is used for determining the corresponding position of the current surrounding environment image, the position of the active seismic source is compared with the corresponding position of the surrounding environment image to judge whether the current surrounding environment image is the same position, if yes, the position is the current position of a transport vehicle, and if not, the positioning is carried out again. Note that the same position does not mean a same coordinate position, but means a similar position range satisfying a certain coordinate error. In the embodiment, the comparison and the positioning are carried out on the ground surface control center server, and in other feasible embodiments, the comparison and the positioning can be directly carried out on the control module of the transport vehicle.
In addition, in this embodiment, the ground surface control center server adopts a linear fitting method to fit the positions of the 3 impact vibration signals generated in the same batch, and the fitting direction of the ground surface control center server is the current traveling direction of the mine unmanned transport vehicle. And automatically comparing the direction with the roadway trend in the mine underground design construction drawing, and adjusting and determining the direction of the next step of advancing.
Based on the transportation vehicle in the embodiment, the invention further provides a control system which comprises the ground surface control center server and the transportation vehicle, wherein the ground surface control center server is connected with the control module of the transportation vehicle.
Based on the transportation vehicle in the embodiment, the invention also provides a control system which comprises the transportation vehicle and is also provided with a microseismic monitoring system. In some embodiments, the microseismic monitoring system is connected to the control module of the transport vehicle, and in other embodiments, the microseismic monitoring system is connected to a surface control center server in the control system.
Based on the transportation vehicle, the invention also provides a control method, which comprises the following steps:
acquiring a surrounding environment image of a current transport vehicle by using a camera;
triggering an impact vibration signal according to a preset time interval by using an active seismic source release module;
performing active seismic source positioning by using seismic source signals acquired by a micro-seismic monitoring system;
and comparing whether the position of the active seismic source and the surrounding environment image shot by the camera are at the same position or not based on the image in the pre-stored surrounding environment image database, wherein if yes, the position is the current position of the transport vehicle.
Monitoring the appearance of the front obstacle by using a detection radar, and controlling the transport vehicle to stop advancing until the obstacle is cleared;
and monitoring the existence of people in front by using the infrared thermal image sensing module 9, and controlling the transport vehicle to send an alarm.
The force sensor is used for measuring the quality of ore in the ore carriage 6 in real time. When the quality of the ore in the ore carriage 6 reaches the load limit threshold value, the control module controls the alarm system 8 to give an alarm to remind the operator of the loading equipment or control the loading equipment to stop loading.
In some embodiments, the invention further provides a readable storage medium storing a computer program, the computer program being invoked by a processor to perform the steps of the control method.
It should be understood that in the embodiments of the present invention, the Processor may be a Central Processing Unit (CPU), and the Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The memory may include both read-only memory and random access memory, and provides instructions and data to the processor. The portion of memory may also include non-volatile random access memory. For example, the memory may also store device type information.
The readable storage medium is a computer readable storage medium, which may be an internal storage unit of the controller according to any of the foregoing embodiments, for example, a hard disk or a memory of the controller. The readable storage medium may also be an external storage device of the controller, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the controller. Further, the readable storage medium may also include both an internal storage unit of the controller and an external storage device. The readable storage medium is used for storing the computer program and other programs and data required by the controller. The readable storage medium may also be used to temporarily store data that has been output or is to be output.
It should be emphasized that the examples described herein are illustrative and not restrictive, and thus the invention is not to be limited to the examples described herein, but rather to other embodiments that may be devised by those skilled in the art based on the teachings herein, and that various modifications, alterations, and substitutions are possible without departing from the spirit and scope of the present invention.
Claims (10)
1. An unmanned transportation vehicle characterized by: the method comprises the following steps: the system comprises a control module, a camera and 2 or more active seismic source releasing modules, wherein position connecting lines among the active seismic source releasing modules are at least parallel to a central axis of a vehicle, and the camera is connected with the control module;
the seismic source signal released by the active seismic source releasing module is used for reversely showing the position of the active seismic source; the camera is arranged on a transport vehicle, and shoots to obtain an ambient environment image and feeds the ambient environment image back to the control module;
and comparing whether the position of the active seismic source and the surrounding environment image shot by the camera are at the same position or not based on the image in the pre-stored surrounding environment image database, wherein if yes, the position is the current position of the transport vehicle, and the surrounding environment image database stores the surrounding environment images corresponding to different positions.
2. The transportation vehicle according to claim 1, characterized in that: the system also comprises a detection radar which is connected with the control module.
3. The transportation vehicle according to claim 2, characterized in that: the detection radars are arranged at the upper and lower positions in front of the transport vehicle, and at least 4 or more detection radars are arranged.
4. The transportation vehicle according to claim 1, characterized in that: the infrared thermal image sensing module is connected with the control module.
5. The transportation vehicle according to claim 1, characterized in that: still including setting up the force sensor between haulage vehicle ore deposit vehicle and bearing floor, force sensor with control module connects.
6. A control system for a transportation vehicle according to any one of claims 1 to 5, characterized in that: the system comprises a ground surface control center server and the transport vehicle, wherein the ground surface control center server is connected with a control module of the transport vehicle.
7. A control system for an unmanned transportation vehicle, characterized by: the transport vehicle as claimed in any one of claims 1 to 5, wherein a microseismic monitoring system is further provided in the control system, and the microseismic monitoring system is used for acquiring the seismic source signal released by the active seismic source releasing module.
8. A control method of a transportation vehicle according to any one of claims 1 to 5, characterized in that:
acquiring a surrounding environment image of a current transport vehicle by using a camera;
triggering an impact vibration signal according to a preset time interval by using an active seismic source release module;
performing active seismic source positioning by using seismic source signals acquired by a micro-seismic monitoring system;
and comparing whether the position of the active seismic source and the surrounding environment image shot by the camera are at the same position or not based on the image in the pre-stored surrounding environment image database, wherein if yes, the position is the current position of the transport vehicle.
9. The control method according to claim 8, characterized in that: further comprising:
monitoring the appearance of the front obstacle by using a detection radar, and controlling the transport vehicle to stop advancing until the obstacle is cleared;
and monitoring the existence of people in front by using the infrared thermal image sensing module, and controlling the transport vehicle to send an alarm.
10. A readable storage medium, characterized by: a computer program is stored which is invoked by a processor for carrying out the steps of the control method according to claim 8 or 9.
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| CN202010952385.7A CN112099499A (en) | 2020-09-11 | 2020-09-11 | Unmanned transport vehicle, system, control method and readable storage medium |
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| CN202010952385.7A CN112099499A (en) | 2020-09-11 | 2020-09-11 | Unmanned transport vehicle, system, control method and readable storage medium |
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Cited By (1)
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| CN117705092A (en) * | 2024-02-06 | 2024-03-15 | 中国地质大学（北京） | Seismic source driving navigation device based on node seismograph and navigation method thereof |
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- 2020-09-11 CN CN202010952385.7A patent/CN112099499A/en active Pending
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