CN112198875B - Unmanned mine car control method for preventing road rolling ruts - Google Patents
Unmanned mine car control method for preventing road rolling ruts Download PDFInfo
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- CN112198875B CN112198875B CN202011024926.6A CN202011024926A CN112198875B CN 112198875 B CN112198875 B CN 112198875B CN 202011024926 A CN202011024926 A CN 202011024926A CN 112198875 B CN112198875 B CN 112198875B
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- mine car
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000005096 rolling process Methods 0.000 title claims abstract description 13
- 238000005065 mining Methods 0.000 claims description 13
- 239000000463 material Substances 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000009490 roller compaction Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a control method of an unmanned mine car for preventing road rolling ruts, which comprises the following steps: s1: when the mine car finishes each operation cycle period and reaches a loading point or an unloading point to stop, acquiring the coordinate information of a planned path point of the mine car and the actual running positioning coordinate information of the mine car; s2: calculating a transverse error between an actual running positioning coordinate of the mine car and a planned path point coordinate, and adding a random offset on the basis of the transverse error to generate a new transverse error; s3: adding the random offset into a security white list of the security module, and feeding back a new transverse error to the control module; s4: the control module adopts the new transverse error as a feedback signal to carry out tracking control. The control method disclosed by the invention is easy to implement, has small workload, can effectively reduce the cost of manpower and material resources, improves the working efficiency, and effectively prevents the road from rolling tracks.
Description
Technical Field
The invention relates to a control method of an unmanned vehicle, in particular to a control method of an unmanned mine car for preventing road rolling ruts.
Background
The mining truck (hereinafter referred to as mine car) is a heavy dump truck used for completing the tasks of rock and earth stripping and ore transportation in surface mine, and has the working characteristics of short transportation distance, heavy load, loading by a large electric shovel or a hydraulic shovel, and moving to and from a mining point and a mining point. The unmanned mine car has huge market potential, can bring various advantages such as cost, safety, efficiency, environmental protection and the like to mine exploitation enterprises, and can bring great profits to mine vehicles and equipment manufacturers.
Compared with the conventional passenger vehicle, the mining truck has the advantages of large volume, high load, special tire characteristics, fixed transportation route of the unmanned mining truck, and easiness in forming deeper tracks by repeatedly rolling the same positions of the pavement, so that the mine pavement is damaged, difficulty is caused in driving other vehicles, and meanwhile, the accuracy of tracking control of the unmanned mining truck is not beneficial to maintenance. The existing technical scheme has the advantages that ruts are avoided by adding deviation on the paths, the scheme for planning the road offset is inconvenient to realize, certain operation is needed, and the development amount is large. It is therefore desirable to provide a simple and easy solution to prevent deep ruts in the road surface.
Disclosure of Invention
In order to solve the technical problems, the invention provides the unmanned mine car control method for preventing the rolling ruts of the road, so that the aims of easy implementation, small workload, effective rut prevention, manpower and material resource cost reduction and work efficiency improvement are fulfilled.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
A method of controlling an unmanned mining vehicle to prevent road rolling ruts, comprising the steps of:
S1: when the mine car finishes each operation cycle period and reaches a loading point or an unloading point to stop, acquiring the coordinate information of a planned path point of the mine car and the actual running positioning coordinate information of the mine car;
s2: calculating a transverse error between an actual running positioning coordinate of the mine car and a planned path point coordinate, and adding a random offset on the basis of the transverse error to generate a new transverse error;
s3: adding the random offset into a security white list of the security module, and feeding back a new transverse error to the control module;
s4: the control module adopts the new transverse error as a feedback signal to carry out tracking control.
In the above scheme, in the step S1, the step of obtaining the coordinate information of the planned route point includes obtaining the planned route information sent by the planning module or the route information stored locally by the mine car.
In the above scheme, in the S1, the information of the actual running positioning coordinates of the mine car is obtained through the vehicle-mounted positioning module.
In the above scheme, in S2, the value of the increased random offset is constant in each working cycle period.
In the above scheme, in the step S2, error offset is not performed when entering the loading area or the unloading area to the reversing stop area; meanwhile, when entering the loading area or unloading area, path planning is performed again between the offset path and the original path or random offset is smoothed to be 0.
In the scheme, the control method is divided into single car control and multi-car control, for the single car control, path offset is carried out once when a mine car passes through an outlet of a loading point or an unloading point every time, and the random offset value is different from the previous random offset value; for multi-car control, each mine car is added with different random offsets on the respective lateral errors, so that the running paths of each mine car are different.
Through the technical scheme, the unmanned mine car control method for preventing road roller compaction ruts has the following beneficial effects:
The invention can lead the running mine car to evenly crush the soil and sand road surface of the mine by adding the random offset on the transverse error of the running of the car, prevent deeper ruts from being generated, ensure the safe passing of the car in the mining area and control precision and operation efficiency of the unmanned mine car. Meanwhile, the method is easy to implement, has small workload, effectively reduces the cost of manpower and material resources, and improves the working efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic flow diagram of a method for controlling an unmanned mining vehicle to prevent road rolling ruts according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of lateral deviation of a mine car from a path according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a control method of an unmanned mine car for preventing road rolling ruts, which is shown in fig. 1, and the specific embodiment is as follows:
A method of controlling an unmanned mining vehicle to prevent road rolling ruts, comprising the steps of:
S1: when the mine car finishes each operation cycle period and reaches a loading point or an unloading point to stop, acquiring the coordinate information of a planned path point of the mine car and the actual running positioning coordinate information of the mine car;
in this embodiment, the step of obtaining the coordinate information of the planned route point includes obtaining the planned route information sent by the planning module or the route information stored locally by the mine car. The actual running positioning coordinate information of the mine car is obtained through the vehicle-mounted positioning module.
S2: taking the running direction of the vehicle as the longitudinal direction and taking the vertical direction as the transverse direction, as shown in fig. 2, calculating the transverse error between the actual running positioning coordinates of the mine car and the coordinates of the planned path points, and adding a random offset on the basis of the transverse error to generate a new transverse error;
The value of the increased random offset is constant during each cycle of the job.
In order to prevent the new transverse error of the vehicle from causing the overlapping of paths in the heavy load direction and the idle load direction or the too small distance between vehicles, the range and the offset direction of the numerical value of the random offset of the vehicle are set according to the comprehensive consideration of the topography, the road width, the minimum safety distance between vehicles, the tire width, the wheel tread and the like. Vehicles in the mining area normally travel to the left, the range when the vehicles are offset to the left can be properly increased, and the range when the vehicles are offset to the right can be reduced.
In order to avoid inaccurate alignment of a loading point vehicle and a shovel or inaccurate reversing at an unloading point, error deviation is not carried out when entering a loading area or an unloading area to a reversing stopping area; meanwhile, when entering a loading area or an unloading area, path planning is conducted again between the offset path and the original path or the random offset is conducted to be transited to 0 in a smooth mode, and the fact that the vehicle makes a sharp turn due to abrupt change of transverse errors is prevented.
S3: adding the random offset into a security white list of the security module, and feeding back a new transverse error to the control module; the safety mechanism can be prevented from being caused by larger transverse error between the vehicle and the original path, so that the vehicle stops running.
S4: the control module adopts the new transverse error as a feedback signal to carry out tracking control, and the vehicle runs parallel to the original path.
The control method is divided into single car control and multi-car control, for the single car control, path offset is carried out once when a mine car passes through an outlet of a loading point or an unloading point each time, and the random offset value is different from the previous random offset value; for multi-car control, each mine car is added with different random offsets on the respective lateral errors, so that the running paths of each mine car are different.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. A method of controlling an unmanned mining vehicle for preventing road rolling ruts, comprising the steps of:
S1: when the mine car finishes each operation cycle period and reaches a loading point or an unloading point to stop, acquiring the coordinate information of a planned path point of the mine car and the actual running positioning coordinate information of the mine car;
s2: calculating a transverse error between an actual running positioning coordinate of the mine car and a planned path point coordinate, and adding a random offset on the basis of the transverse error to generate a new transverse error;
s3: adding the random offset into a security white list of the security module, and feeding back a new transverse error to the control module;
S4: the control module adopts the new transverse error as a feedback signal to carry out tracking control;
In the step S2, error offset is not carried out when entering a loading area or an unloading area to a reversing stop area; meanwhile, when entering a loading area or an unloading area, the random offset is smoothly processed and transited to 0;
The control method is divided into single car control and multi-car control, for the single car control, path offset is carried out once when a mine car passes through an outlet of a loading point or an unloading point each time, and the random offset value is different from the previous random offset value; for multi-car control, each mine car is added with different random offsets on the respective lateral errors, so that the running paths of each mine car are different.
2. The method according to claim 1, wherein in S1, the step of obtaining the coordinate information of the planned route points includes obtaining the planned route information sent by the planning module or the route information stored locally by the mine car.
3. The method according to claim 1, wherein in S1, the actual running positioning coordinate information of the mine car is obtained by the vehicle-mounted positioning module.
4. A method of controlling an unmanned mining vehicle for preventing road rolling rutting according to claim 1, wherein in S2, the value of the increased random offset is constant during each cycle of operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011024926.6A CN112198875B (en) | 2020-09-25 | 2020-09-25 | Unmanned mine car control method for preventing road rolling ruts |
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| CN202011024926.6A CN112198875B (en) | 2020-09-25 | 2020-09-25 | Unmanned mine car control method for preventing road rolling ruts |
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| CN112198875B true CN112198875B (en) | 2024-06-04 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525418A (en) * | 2021-06-11 | 2021-10-22 | 华能伊敏煤电有限责任公司 | Method for automatically controlling path of mining area transport truck |
| CN117546115A (en) * | 2021-06-25 | 2024-02-09 | 华为技术有限公司 | Path planning method and device |
| CN114326834B (en) * | 2021-12-23 | 2023-10-27 | 青岛慧拓智能机器有限公司 | Unloading method of unmanned mining truck, chip, storage medium and truck |
| CN114084124B (en) * | 2022-01-24 | 2022-04-29 | 上海伯镭智能科技有限公司 | Automatic parking method and device for unmanned mine car |
| CN114510050A (en) * | 2022-02-14 | 2022-05-17 | 北京路凯智行科技有限公司 | Method and system for specifying unloading position of unmanned system in mining area |
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