CN112365216A - Unmanned transportation simulation test platform and unmanned transportation simulation method for mining area - Google Patents
Unmanned transportation simulation test platform and unmanned transportation simulation method for mining area Download PDFInfo
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Abstract
The invention relates to a mining area unmanned transportation simulation test platform and a mining area unmanned transportation simulation method; the method comprises the steps that a virtual simulation system is built, a virtual mine, a mine card mathematical model, a mine card dynamic module, a virtual mine card sensor and a deployment virtual mine card are built, a cloud intelligent scheduling and management system receives virtual mine data sent by the virtual simulation system, a mine map is generated, information is received, a virtual mine card driving path is planned in an operation area, and virtual mine card driving path information is generated; generating a scheduling instruction and sending the scheduling instruction to a mine card unmanned control system, generating a driving instruction by the mine card unmanned control system, and sending the driving instruction to a mine card dynamics module in a virtual simulation system, wherein the driving instruction is used for driving the virtual mine card to run in the virtual mine; the design of the unmanned transportation simulation system in the mining area is used for solving the technical problems of relatively independent simulation test and low test effectiveness in the prior art.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a mining area unmanned transportation simulation test platform and a mining area unmanned transportation simulation method.
Background
In recent years, new technology development mechanisms which aim at unmanned and intelligent mines develop vigorously like bamboo shoots in spring after rain. The unmanned mining dump truck (hereinafter referred to as unmanned mine truck) is used as an important component of an unmanned mine transportation system, and the work of performing function test and even system test on the unmanned mine dump truck is important for completing development. At present, the test means aiming at the unmanned mine card mainly takes real vehicle test and field debugging as main measures. The development and test mode needs a large amount of personnel and capital investment and is easily restricted by factors such as weather and vehicle faults, so that the development and test period is slow, and the development cost is greatly increased by investment in various aspects such as equipment/personnel/fuel oil. Second, potential errors in software can also lead to significant security incidents. Therefore, it is imperative to rapidly implement development testing with the aid of computer simulation techniques.
The computer simulation technology can greatly improve the development efficiency of the automatic driving software, improve the safety and reliability during testing, and save the development cost of equipment/personnel/fuel oil and the like. Generally, the test based on the computer simulation technology can shorten the debugging time of a field real vehicle by 90 percent, greatly reduce the influence of the field debugging on the development task and the test progress and improve the test safety. At present, a plurality of simulation mining area unmanned transportation simulation methods and systems thereof appear in the industry, for example, for automatic driving of passenger cars and urban road trucks, a plurality of commercial simulation test software is issued by domestic and foreign cards, wherein excellent simulation test software includes Panosil, Prescan, Carsim/Trucksim, CarMaker/TruckMaker and the like. The test mainly focuses on using a self-contained scene in software, and is combined with an automatic driving algorithm and a passenger vehicle dynamics module to perform algorithm simulation verification. However, because the actual environment of the mining area, the structure and the system of the mining vehicle are complex and huge, at present, the vehicle module and the automatic driving algorithm for the mining area are difficult to verify in the simulation software, so that the commercial software is difficult to directly build a simulation scene and a vehicle module for the mining area because the environment of the mining area is labeled faster and the landform of each mining area is different. At present, the technical scheme/research aiming at the automatic driving simulation of the mining truck is relatively simple, and the simple path tracking simulation test is mainly carried out by building a mine card mathematical module through Matlab/simiulink, or the sensing algorithm test is carried out based on real vehicle collected data, or the path planning algorithm test is carried out separately, or the urban road is built by adopting the software for the mine card test. Overall, some simulation technical schemes are summarized, at present, most of simulation tests aiming at each module of the mine card automatic driving algorithm are relatively independent, and a test scene deviates from reality, so that the test effectiveness is discounted.
CN107807542A discloses an automatic driving simulation system, which belongs to a system comprising: the simulation system comprises a running environment simulation module, a vehicle power simulation module and a control module, and is a simulation system scheme with a relatively simple structure. 201811642263.7 discloses a method for creating a mining vehicle dynamics module that combines a full hydraulic steering system with vehicle dynamics to provide a method of modeling a mining vehicle. 201811636749.X discloses a system for verifying unmanned mine card related algorithm, the invention provides an unmanned mine card related algorithm block-speed verification platform with a visual scene, and the whole platform is developed based on Matlab/Simulink. The platform can be used for verifying the effectiveness of the unmanned mine card algorithm in the aspects of planning, decision making, control and the like.
By adopting the existing simulation technical scheme, the built simulation system and the mine unmanned transportation simulation method have the following defects:
1) the main focus of the patent is automatic driving algorithm function test or vehicle dynamics module test, and it is difficult to combine with practice-variable scenes to carry out actual transportation flow to carry out overall simulation test, and the unmanned transportation simulation method in the mining area is too simple to embody the simulation of the overall flow.
2) The automatic driving simulation test is carried out through the automatic scene of the software, most of the automatic driving simulation test is mainly used for urban roads, fixed parks and port scenes, the unmanned mine transportation scene can not be created directly from the software, although a rapid verification platform for the unmanned mine card related algorithm with a visual scene is provided, the created virtual test scene is not vivid enough, but with factors such as practical mine transportation flow, terrain and features and the like, the functional test stability under the whole mine scene can not be simulated, the simulation scene is too limited, and the simulation scene with high fidelity can not be created, so that the visual effect of high-quality simulation test can not be obtained, and the automatic driving simulation test has no strong competitiveness.
3) The dynamic module of the mining truck with high complexity and high precision cannot be built for the mining vehicle. And the refinement and sensor building types thereof are already included in the road vehicle software, and the method does not relate to the integration and the method of an automatic driving algorithm module (only one control module). Moreover, the simulation technical scheme is simple in structure, only the test and evaluation of the automatic driving system at the vehicle end can be realized, but the cluster system test at the fleet scale level cannot be realized, the simulation precision is limited by the building degree of the vehicle power simulation module rather than high, and the system does not take much consideration on the display effect of the simulation system.
4) Although a modeling method of the mining vehicle is provided, the mine card module lacks a power transmission system module such as an engine and a driving motor, and does not have the verification or test capability of an automatic driving related algorithm.
5) In the existing simulation technical scheme, various controller software operating in vehicle-mounted domain controller hardware is transplanted into simulation system software, so that the input and output forms of the controller are inevitably required to be changed, and even more, the mechanism or parameters of the controller are required to be slightly changed for the purpose of being matched with other system relief, and the control effect is influenced to a greater or lesser extent. Moreover, the practical simulation system often has to ignore the signal mitigation of the simplified hardware, and therefore, the phenomena of signal delay, stagnation, loss and the like of the simulation interface cannot be covered and verified by the simulation process, which causes that the simulation experiment result cannot be purchased completely to verify the test system, and lacks persuasion and credibility.
6) The simulation technical scheme can not realize the system test of the large-scale unmanned mine truck fleet. For the overall solution of the unmanned mine transportation system with a large-scale mine truck fleet, a cloud intelligent scheduling and management system plays a crucial role, a simulation system can comprehensively and accurately evaluate a developed system scheme only by bringing a central server pipeline system into a simulation test process, however, the simulation energy of the existing simulation technical scheme is too weak, and the simulation of the overall system cannot be realized.
Therefore, in order to solve the above problems, the present invention urgently needs to provide a mine unmanned transportation simulation test platform and a mine unmanned transportation simulation method.
Disclosure of Invention
The invention aims to provide a mining area unmanned transportation simulation test platform and a mining area unmanned transportation simulation method, which solve the technical problems that most of simulation tests aiming at modules of an automatic driving algorithm of a mine card are relatively independent, the test scene deviates from reality and the test effectiveness is discounted in the prior art through the design of a mining area unmanned transportation simulation system.
The invention provides a mining area unmanned transportation test platform, which comprises
The virtual simulation system is used for building a virtual mine and generating virtual mine data; visually presenting a virtual mine; respectively creating a mine card mathematical model, a mine card dynamic module corresponding to the virtual mine card and a virtual mine card sensor; deploying a virtual mine card, acquiring data information of the virtual mine card, and sending the virtual mine data and the data information of the virtual mine card to a cloud intelligent scheduling and management system;
the cloud intelligent scheduling and management system is used for receiving the virtual mine data sent by the virtual simulation system, generating a mine map according to the virtual mine data, and dividing an operation area on the mine map; receiving data information of the virtual mine card, planning a virtual mine card driving path in an operation area, and generating virtual mine card driving path information; generating a scheduling instruction according to the scheduling information, and sending the scheduling instruction to the mine card unmanned control system;
the mine card unmanned control system is used for receiving the virtual mine card driving path information and the scheduling instruction issued by the cloud intelligent scheduling and management system, generating a driving instruction and sending the driving instruction to a mine card dynamic module in the virtual simulation system, wherein the driving instruction is used for driving the virtual mine card to drive in the virtual mine.
Preferably, the virtual simulation system is further used for creating virtual excavators, excavator kinematic modules and virtual excavator sensors which correspond to the virtual excavators one by one; deploying a virtual excavator in the virtual mine, acquiring data information of the virtual excavator, and sending the data information of the excavator to an excavator operation management system; further comprising:
the excavator collaborative operation management system is used for arranging a site placing point, a loading point, a site discharging point after loading and a bucket position in an operation area of a mine map; receiving data information of the excavator, generating a mine card entering/exiting instruction, and respectively sending the mine card entering/exiting instruction to a mine card dynamics module and an excavator kinematics module, wherein the entering instruction and the exiting instruction are used for controlling the virtual excavator to complete the whole loading process;
and the cloud intelligent scheduling and management system is used for automatically matching mine card information and shovel information of the excavator according to the mine card information and the shovel information provided by the virtual simulation system and the excavator cooperative operation management system, so that the mine car and the shovel of the excavator can cooperatively operate in an optimal mode.
Preferably, the virtual simulation system comprises:
the virtual mine building module is used for receiving real mine data, building a virtual mine and sending the virtual mine data to the cloud intelligent scheduling and management system;
the virtual mine card creating module is used for receiving real mine card data and creating a mine card mathematical model, a mine card dynamic module and a virtual mine card sensor;
and the virtual excavator creating module is used for receiving the real excavator data and creating an excavator mathematical model, an excavator kinematics module and an excavator virtual sensor.
Preferably, the excavator collaborative work management system comprises
The excavator operation management module is used for planning an excavator operation area in the operation area, arranging a site entering point, a loading point, a site exiting point after loading and a bucket position in the excavator operation area, and sending the site entering point, the loading point, the site exiting point after loading and the bucket position to the cloud intelligent scheduling and management system;
and the digging machine auxiliary module is used for receiving the data information of the virtual mine card and the data information of the digging machine, generating a digging machine control instruction and sending the digging machine control instruction to the digging machine kinematics module.
Preferably, the cloud intelligent scheduling and management system includes:
the map scene dividing module is used for receiving the virtual mine data, generating a mine map and dividing an operation area on the mine map;
the route planning module is used for receiving data information of the mine card and information of an entry point, a loading finishing exit point and a bucket position sent by the excavator cooperative operation management system, planning a mine card running route in an operation area, generating route information and sending the route information to the mine card unmanned control system;
the scheduling management module is used for receiving scheduling information, generating a scheduling instruction and sending the scheduling instruction to the mine card unmanned control system;
the shovel matching management module is used for automatically matching mine card information and shovel information of the excavator according to the mine card information and the shovel information provided by the virtual simulation system and the excavator cooperative operation management system, so that the mine car and the shovel of the excavator cooperate to operate in an optimal mode;
the equipment monitoring safety management module is used for receiving data transmitted by the virtual simulation system, the mine card unmanned control system and the excavator cooperative operation management system in real time, displaying the data and giving an alarm according to a preset threshold value;
and the data statistical analysis module is used for receiving the data transmitted by the equipment monitoring and safety management module, analyzing the data and generating a report.
Preferably, the mine card unmanned control system comprises
The environment perception submodule is used for receiving data information of the virtual mine card, acquiring surrounding environment information of the virtual mine card and sending the surrounding environment information to the decision planning submodule;
the decision planning submodule is used for planning the driving path of the virtual mine card according to the data information of the virtual mine card sent by the environment perception submodule and the path data information and the scheduling instruction sent by the cloud intelligent scheduling and management system;
the control submodule is used for receiving the virtual mine card driving path sent by the decision planning submodule, marking a mine card control instruction and sending the mine card control instruction to the bottom subsystem module;
and the bottom subsystem module is used for receiving the mine card control instruction sent by the control submodule, analyzing the mine card control instruction, generating an analysis control instruction and sending the analysis control instruction to the mine card dynamic model.
Preferably, the data information of the virtual mine card comprises the position, the state and the course angle of the virtual mine card in the virtual mine; the data information of the virtual excavator comprises the position of the virtual excavator in the virtual mine and the position of a bucket on the excavator.
Preferably, the virtual mine card sensor comprises at least one of a camera module, a laser radar module, a millimeter wave radar module or a positioning navigation module; the virtual excavator sensor comprises at least one of a camera module, a laser radar module, a millimeter wave radar module or a positioning navigation module.
The invention also provides a mine unmanned transportation simulation method based on the mine unmanned transportation simulation test platform, which comprises the following steps:
the virtual simulation system builds a virtual mine and generates virtual mine data; visually presenting a virtual mine; respectively creating a mine card mathematical model, a mine card dynamic module corresponding to the virtual mine card and a virtual mine card sensor; deploying a virtual mine card, acquiring data information of the virtual mine card, and sending the virtual mine data and the data information of the virtual mine card to a cloud intelligent scheduling and management system;
the cloud intelligent scheduling and management system is used for receiving the virtual mine data sent by the virtual simulation system, generating a mine map according to the virtual mine data, and dividing an operation area on the mine map; receiving data information of the virtual mine card, planning a virtual mine card driving path in an operation area, and generating virtual mine card driving path information; generating a scheduling instruction according to the scheduling information, and sending the scheduling instruction to the mine card unmanned control system;
the mine card unmanned control system receives virtual mine card driving path information and a scheduling instruction issued by the cloud intelligent scheduling and management system, generates a driving instruction, and sends the driving instruction to a mine card dynamics module in a virtual simulation system, wherein the driving instruction is used for driving the virtual mine card to drive in a virtual mine.
Preferably, the virtual simulation system creates a virtual excavator according to the real excavator, the excavator kinematic models and the virtual excavator sensors which are in one-to-one correspondence with the virtual excavators, deploys the virtual excavator in the virtual mine, and collects the data of the virtual excavator and sends the data to the excavator cooperative operation management system;
the excavator collaborative operation management system plans a loading area in a virtual mine, sets a site entering point, a loading point, a site exiting after loading and a bucket position of a virtual mine card in the loading area, sends the site entering point, the loading point, the site exiting after loading and the bucket position, and sends planning loading information to a cloud intelligent scheduling and management system; receiving data information of a virtual excavator and data information of a mine card, generating an excavator driving instruction and sending the excavator driving instruction to an excavator kinematics module;
the excavator kinematics module receives an excavator driving instruction and drives the excavator to complete loading action in cooperation with the virtual mine card.
Compared with the prior art, the unmanned transportation simulation test platform for the mining area provided by the invention has the following advantages:
1. the virtual simulation system builds a virtual mine, the virtual mine is displayed in a visual system, each virtual mine card is correctly deployed in the virtual mine according to mine card vehicles in the actual mine, the training corresponding to the real mine transportation condition is completed, one-to-one corresponding sensors are established on the virtual mine cards according to the actual sensor mounting positions of the vehicles, a mine card dynamic module receives a control instruction to achieve the driving visual effect of the virtual mine cards in a virtual mine scene, meanwhile, the virtual sensors in the virtual simulation system transmit data to a mine card unmanned control system through Ethernet/CAN, and the real-time interaction of virtual data information is achieved.
2. The cloud intelligent scheduling and management system is arranged in a server, a virtual mine area map is created according to virtual mine construction, and operation area scene division is carried out, wherein the operation area scene comprises a plurality of scenes such as a driving area, a loading area, an unloading area, a crushing area, a refueling area, a maintenance area and a parking area; the route planning module receives information such as the position, the state and the course angle of the vehicle in the virtual mine area sent by the virtual sensor, then plans a reasonable driving route in the driving area of the virtual mine area, and further issues the route to the route planning module, and meanwhile, the scheduling management module has the right of initiative for scheduling all vehicles in the virtual mine area at any time so as to ensure the driving rationalization of the virtual mine card in the mine area.
3. The unmanned transportation simulation test platform for the mining area is designed for an integrated unmanned mine transportation system of an unmanned mine, an intelligent mine and the like, so that the system test of the universities such as fleet management, intersection vehicle safety scheduling, generation task management simulation test and the like can be carried out on the unmanned mine transportation system at fleet scale level; the system test platform carries out prospective system test work through the unmanned transportation simulation test platform in the mining area, and then carries out on-site verification test, so that the time and capital investment spent on demonstration acceptance test can be greatly shortened, a large amount of development time can be saved through the scientific development process, the development process of the unmanned mine transportation system solution is accelerated, the product development cost is reduced, and the company competitiveness is improved.
4. The unmanned transportation simulation test platform for the mining area is realized by adopting a hardware-in-the-loop (HIL) technical means, the simulation system has high simulation calculation capacity, a high-complexity and high-precision mine card dynamic module is built, the simulation precision and the simulation capacity are high for the function test of the unmanned control system for the mine card, and the automatic driving development efficiency of the mine card and the safety in the development and test process are greatly improved. The real mine truck or the main parts of the mine truck are expensive, the use of the virtual mine card can greatly save the cost, improve the safety and facilitate the data acquisition and analysis. The unmanned transportation simulation test platform for the mine area can realize integrated test of each module of automatic driving of the mine card, and can also test the effectiveness and accuracy of each independent algorithm module based on a complete simulation test system; the method for communication by adopting the actual hardware communication equipment can effectively cover the problems of delay, stagnation, loss and the like which may occur to hardware communication signals, and greatly improves the reliability and accuracy of a simulation experiment compared with the prior simulation technical scheme.
5. The invention combines a common virtual simulation test subsystem, a cloud intelligent scheduling and management system in an unmanned mine card transportation system and an unmanned mine card control system into a complete large-scale simulation system platform through a real physical interaction link; the simulation system directly uses a real unmanned mine card automatic driving domain controller to execute automatic driving operation in a hardware-in-loop simulation mode; the unmanned transportation simulation test platform for the mining area can complete the automatic driving function test of the mine truck end and the global system test of the unmanned transportation system, so that the product development process of the unmanned mine truck transportation system solution of the mine is accelerated, and the safety in the development process is ensured.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a block diagram of a system connection relationship of an unmanned transportation simulation test platform for a mining area according to the present invention;
FIG. 2 is a flow chart of the virtual mine construction according to the present invention;
fig. 3 is a block diagram of the steps of the unmanned transportation simulation method for a mining area according to the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in FIG. 1, the invention provides a simulation test platform for unmanned transportation in a mining area, which comprises
The virtual simulation system is used for building a virtual mine and visually presenting the virtual mine; sending the virtual mine data to a cloud intelligent scheduling and management system; creating a virtual mine card, a mine card dynamic module corresponding to the virtual mine card and a virtual mine card sensor; deploying a virtual mine card, collecting data information of the virtual mine card and sending the data information to a cloud intelligent scheduling and management system;
the cloud intelligent scheduling and management system is used for receiving the virtual mine data, generating a mine map and dividing an operation area on the mine map; receiving data information of a virtual mine card, planning a virtual mine card driving path in an operation area, and sending planned driving path information to a mine card unmanned control system; generating a scheduling instruction according to the scheduling information, and sending the scheduling instruction to the mine card unmanned control system;
the mine card unmanned control system is used for receiving the driving path information and the scheduling instruction sent by the cloud intelligent scheduling and management system, generating a driving instruction and sending the driving instruction to the mine card dynamics module in the virtual simulation system, and driving the virtual mine card to drive in the virtual mine.
The virtual simulation system is mainly used for presenting the built real virtual mine model in a visual system, correctly deploying the created virtual vehicles in the virtual mine, completing the virtual correspondence with the real mine transportation condition, and creating one-to-one corresponding virtual mine card sensors in the virtual simulation system according to the actual sensor mounting positions of the vehicles; and a mine card dynamics module is created, the driving visual visible effect of the virtual mine card in the virtual mine is realized by receiving a driving instruction, and the sensing data of the virtual simulation system CAN be transmitted to a cloud intelligent scheduling and management system through an Ethernet/CAN (controller area network), so that the real-time interaction of the virtual data information is realized.
The cloud intelligent scheduling and management system is used for creating a virtual mine area map by acquiring data information of a virtual mine which is built with a real mine area according to a ratio of 1:1, and dividing scenes of an operation area, wherein the scenes comprise a plurality of scenes such as a driving area, a loading area, an unloading area, a crushing area, a refueling area, a maintenance area and a parking area; receiving data confidence of the virtual mine card, including information of the position, state, course angle and the like of the virtual mine card in the virtual mine, planning a reasonable driving path for a driving area of the virtual mine area, and further sending the planned driving path to a mine card unmanned control system; meanwhile, the system has the initiative of scheduling all the virtual mine cards in the virtual mine area at any time, so that the driving rationalization of a mine area fleet is ensured.
And the mine card unmanned control system receives the path information sent by the cloud intelligent scheduling and management system, generates a driving instruction after processing, and sends the driving instruction to the mine card dynamics module.
The mine card dynamics module disclosed by patent CN201811642263.7 is an establishment method of the mine card dynamics module, is developed and built independently, is different according to specific vehicle types, and has high precision and accuracy; based on the virtual mine card, the simulation system can realize various function tests of unmanned mine card automatic driving in a software/hardware in-loop mode.
The invention forms a complete large-scale simulation test platform through the real physical exchange of the virtual simulation system, the mine card dynamics module, the central intelligent dispatching system and the mine card unmanned control system, and the mine card unmanned control system provides a real unmanned mine card automatic driving controller to execute automatic driving operation by hardware-in-loop simulation driving. The platform can complete the automatic driving function test of the mine truck end and the global system test of the unmanned transport system, thereby accelerating the product development process of the unmanned mine truck transport system solution and ensuring the safety in the development process.
According to the invention, through research and measurement with a real mine truck host factory and an actual mine, the size, load, wheelbase, wheel track, control mode, sensor installation mode, position information and the like of the whole mine truck are determined, then through engineering three-dimensional modeling software, modeling is firstly carried out on the virtual mine truck clamp modules of the mine truck one by one, then whole truck assembly is carried out, and then, relevant software is utilized to carry out joint creation, constraint processing, appearance rendering and other work on each system component of the mine truck, so that the execution mode is basically consistent with that of the real mine truck; and finally, loading the created vehicle model into a virtual simulation system to complete the creation of the virtual mine vehicle, and achieving the real matching degree with the real vehicle.
The virtual mine card sensor is consistent with the real sensor carried by a real vehicle in type, and mainly comprises a millimeter wave radar, a laser radar, an inertial navigation and GPS positioning device, an industrial camera and the like. The developed virtual sensor model CAN output basic measurement information and transmit data to the mine card dynamics module and the cloud intelligent scheduling and management system through cables (the cable type depends on the type of the sensor, such as a CAN bus, an Ethernet and the like).
The cloud intelligent scheduling and management system is positioned on the server, a large amount of information such as operation control instructions, map data and the like is transmitted between the cloud intelligent scheduling and management system and the mine card unmanned control system through network communication running, and various data are transmitted between the virtual simulation platform and the mine card unmanned control system through cables such as a CAN bus, a network port and the like.
The simulation test platform adopts a top-down structural design mode, the central-end intelligent scheduling platform operates in the server independently, and data transmission with the mine card unmanned control system is realized through the local area network, so that the combined simulation test verification among the cloud intelligent scheduling and management system, the mine card unmanned control system and the virtual simulation system is solved, and the bottleneck that the combined simulation of the whole set of transportation system cannot be realized in the current simulation field is solved.
The virtual mine is modeled and manufactured by adopting a high-fidelity mapping rendering technology through real mine information acquisition, and can achieve a photo-level high-fidelity effect. According to the created virtual mining area model, road surface data such as roads, road edges and slopes in the virtual mining area model are divided in detail, the dividing precision reaches 0.1m, and the virtual mining area model is loaded into a virtual simulation system through extraction processing of a large amount of ground data to complete creation of the virtual mining area road surface. The virtual mine has high flexibility, and can use the terrain features lacking in the actual mine road, so that the comprehensive test road type for the function test of the mine card unmanned control system can be provided. Map data information of the virtual mine is processed by a computer and transmitted to the central-end intelligent scheduling platform through a physical communication link, so that the problems of mine site map mapping, road boundary data and the like required by the central-end intelligent scheduling platform are solved.
As shown in fig. 2, a flow chart for building a high-fidelity virtual mine model is provided, which includes real information acquisition, wherein the acquired information includes mine point cloud data, mine transportation roads, mine operation scenes, mine material shooting and the like; building a virtual scene according to the acquired real information, and generating scene data after building is completed, wherein the scene data comprises a mine model scene, road basic data, scene marking data, transportation flow node data, pavement grid data and the like; the flexibility guarantees that accurate data are provided for the cloud intelligent scheduling and management system.
The invention provides a simulation test platform for unmanned transportation in a mining area, which can be used for carrying out global tests such as fleet management, intersection vehicle safety scheduling, production task management simulation test and the like through a central-end intelligent scheduling platform.
As shown in fig. 1, the virtual simulation system in this embodiment is further configured to create a virtual excavator, excavator kinematic modules and virtual excavator sensors that are in one-to-one correspondence with the virtual excavator; deploying a virtual excavator in the virtual mine, acquiring data information of the virtual excavator, and sending the data information of the excavator to an excavator operation management system; the excavator collaborative operation management system is used for arranging a site placing point, a loading point, a site discharging point after loading and a bucket position in an operation area of a mine map; and receiving data information of the excavator, generating a mine card entering/exiting instruction, and respectively sending the mine card entering/exiting instruction to the mine card dynamics module and the excavator kinematics module to control the virtual mine card and the virtual excavator to finish the loading process.
The excavator cooperative operation management system adopts an actual operation management system program, is embedded into a simulation system in a hardware-in-loop mode, reports self data information to the excavator operation management system by a virtual excavator, sends an entering or leaving instruction to a virtual mine card according to the self data information of the excavator, guides the virtual mine card to enter or exit, controls the virtual excavator to complete a simulated loading process and the like, can directly communicate and interact with a central end management system, and jointly completes the functions of planning of an excavation operation area, production task operation management, transmission of various control instructions and the like; and simulating the actual loading process of the mining area.
The cloud intelligent scheduling and management system is used for automatically matching mine card information and shovel information of the excavator according to the mine card information and the shovel information provided by the virtual simulation system and the excavator cooperative operation management system, so that the mine car and the shovel of the excavator cooperatively operate in an optimal mode; through automatic matching of computer optimization operation, the car and the shovel can work in a coordinated mode, the phenomenon that the efficiency is wasted due to the fact that a large car is matched with a small shovel, a small car is matched with a large shovel and the like in the mine production process is avoided, and the maximum working capacity of the electric shovel can be guaranteed.
As shown in fig. 1, the virtual simulation system of the present embodiment includes: the virtual mine building module is used for receiving real mine data, building a virtual mine and sending the virtual mine data to the cloud intelligent scheduling and management system; the virtual mine card creating module is used for receiving real mine card data and creating a mine card mathematical model, a mine card dynamic module and a virtual mine card sensor; and the virtual excavator creating module is used for receiving the real excavator data and creating an excavator mathematical model, an excavator kinematics module and an excavator virtual sensor.
As shown in fig. 1, the excavator collaborative work management system of the embodiment includes an excavator work management module, which is configured to plan an excavator work area in the work area, arrange an entry site, a loading completion exit site and a bucket position in the excavator work area, and send the entry site, the loading completion exit site and the bucket position to a cloud intelligent scheduling and management system; and the digging machine auxiliary module is used for receiving the data information of the virtual mine card and the data information of the digging machine, generating a digging machine control instruction and sending the digging machine control instruction to the digging machine kinematics module.
As shown in fig. 1, the cloud intelligent scheduling and management system of the embodiment includes a map scene dividing module, configured to receive virtual mine data, generate a mine map, and divide an operation area on the mine map; the path planning module is used for receiving data information of the mine card and the information of an entry point, a loading finishing exit point and a bucket position which are sent by the excavator cooperative operation management system, planning a mine card driving path in an operation area and sending the planned path information to the mine card unmanned control system; the scheduling management module is used for generating a scheduling instruction according to the scheduling information and sending the scheduling instruction to the mine card unmanned control system; the shovel matching management module is used for automatically matching mine card information and shovel information of the excavator according to the mine card information and the shovel information provided by the virtual simulation system and the excavator cooperative operation management system, so that the mine car and the shovel of the excavator cooperate to operate in an optimal mode; the equipment monitoring safety management module is used for receiving data transmitted by the virtual simulation system, the mine card unmanned control system and the excavator cooperative operation management system in real time, displaying the data and giving an alarm according to a preset threshold value; and the data statistical analysis module is used for receiving the data transmitted by the equipment monitoring and safety management module, analyzing the data and generating a report.
And the car and shovel matching management module is used for constructing a car and shovel cooperative operation model, automatically matching through computer optimization operation, enabling the car and shovel to cooperatively operate, avoiding the phenomenon that the efficiency is wasted due to the fact that a large car is matched with a small shovel, a small car is matched with a large shovel and the like in the mine production process, and ensuring the maximum working capacity of the output of the electric shovel. The equipment monitoring safety management module is used for bearing the responsibility of a cloud intelligent scheduling and management system-monitoring center and mainly comprises three parts of operation real-time monitoring and displaying, operation real-time alarm prompting and communication state monitoring. The data statistical analysis module provides the functions of classified statistics, data analysis and report forms of the production conditions of the mine through real-time monitoring and data collection of the whole production operation system, so that all levels of departments of the mine can timely and accurately master production and ore loading data, and the digital management of the production process is realized.
As shown in fig. 1, the mine card unmanned control system of the present embodiment includes an environment sensing submodule, configured to receive data information of a virtual mine card, obtain environment information around the virtual mine card, and send the environment information to a decision planning submodule; the decision planning submodule is used for planning a virtual mine card driving path and sending the virtual mine card driving path to the control submodule according to the data information of the virtual mine card sent by the environment perception submodule and the path data information and the scheduling instruction sent by the cloud intelligent scheduling and management system; the control submodule is used for receiving the virtual mine card driving path sent by the decision planning submodule, marking a mine card control instruction and sending the mine card control instruction to the bottom subsystem module; and the bottom subsystem module is used for receiving the mine card control command sent by the control sub-module, analyzing the mine card control command and sending the analyzed mine card control command to the mine card dynamics module.
Specifically, the data information of the virtual mine card of the embodiment includes the position, the state and the course angle of the virtual mine card in the virtual mine; the data information of the virtual excavator comprises the position of the virtual excavator in the virtual mine and the position of a bucket on the excavator.
Specifically, the virtual mine card sensor of the embodiment includes at least one of a camera module, a laser radar module, a millimeter wave radar module or a positioning navigation module; the virtual excavator sensor comprises at least one of a camera module, a laser radar module, a millimeter wave radar module or a positioning navigation module.
As shown in fig. 3, the invention further provides a mine unmanned transportation simulation method based on the mine unmanned transportation simulation test platform, which comprises the following steps:
s101) the virtual simulation system builds virtual mines and virtual mine cards according to real mines and mine cards and a ratio of 1:1, mine card dynamic modules and virtual mine card sensors which correspond to the virtual mine cards one by one, deploys the virtual mine cards in the virtual mines, and collects data information of the virtual mine cards and sends the data information to a cloud intelligent scheduling and management system respectively;
s1012) the cloud intelligent scheduling and management system generates a mine map according to the virtual mine model, divides an operation area on the mine map, receives data information of the virtual mine card, plans a virtual mine card driving path in the operation area, sends the driving path to the mine card unmanned control system, generates a scheduling instruction according to the scheduling information, and sends the scheduling instruction to the mine card unmanned control system;
s103) the mine card unmanned control system receives the scheduling instruction and the path planning information, generates a driving instruction and sends the driving instruction to a mine card dynamics module established in the virtual simulation system;
and S104) the mine card dynamics module receives a driving instruction and drives the virtual mine card to run in the virtual mine.
S105) the virtual simulation system creates a virtual excavator according to the real excavator, the excavator kinematic models and the virtual excavator sensors which are in one-to-one correspondence with the virtual excavators deploy the virtual excavator in a virtual mine, and the data of the virtual excavator is collected and sent to the excavator cooperative operation management system;
s106) planning a loading area in the virtual mine by the excavator collaborative operation management system, setting a site entering point, a loading point, a site exiting after loading and a bucket position of a virtual mine card in the loading area, sending the site entering point, the loading point, the site exiting after loading and the bucket position, and sending planned loading information to a cloud intelligent scheduling and management system; receiving data information of a virtual excavator and data information of a mine card, generating an excavator driving instruction and sending the excavator driving instruction to an excavator kinematics module; the excavator kinematics module receives an excavator driving instruction and drives the excavator to complete loading action in cooperation with the virtual mine card.
The invention provides a mining area unmanned transportation simulation method of a mining area integrated unmanned transportation simulation test system, which adopts a design method of mutual combination of local and whole parts from top to bottom, and simulates the management of vehicles in the whole mining area, the planning of transportation routes, the starting, the stopping, the loading, the unloading and the like through a cloud intelligent scheduling and management system, thereby ensuring that each unmanned mine card can be transported, loaded, unloaded and the like in the whole mining area in a orderly manner; meanwhile, the cooperative simulation of the mine card and the excavator can be simulated, so that the mine card and the excavator are completely consistent with the functions of the actual unmanned mine, and the process of the actual unmanned mine transportation landing can be greatly accelerated through simulation test verification.
The invention can realize hardware/software in-loop simulation test verification of the vehicle-end unmanned system, and can also realize the integral and global fleet scale system test of the unmanned mine transportation system, so as to solve the problem that the existing simulation technical scheme can only carry out preliminary software in-loop test verification on the single-vehicle self-driving software.
The invention carries out simulation test in a loop mode through HIL, each hardware device in the system is consistent with an automatic driving actual mine car, an automatic driving algorithm in the hardware is completely consistent with an actual car, and reliability, trafficability and robustness under each working condition of a virtual mining area are provided through actual simulation of a mine, wherein the working conditions comprise multiple working conditions such as crossroads, T-shaped intersections, long uphill slopes, long downhill slopes, obstacle waiting parking, car following, overtaking, loading herringbone reversing, lifting unloading and the like.
The invention adds the simulation of the excavator cooperative operation management system, and aims at the cooperative simulation test of the excavator loading area and the unmanned mine card, including the functional simulation tests of the field entry point, the field exit electricity, the stop point, the loading action and the like, namely the cooperative flow test of the excavator and the mine card is verified, and the precision and the algorithm test of the motion control of the mine card and the excavator are indirectly tested.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an unmanned transportation test platform in mining area which characterized in that: comprises that
The virtual simulation system is used for building a virtual mine and generating virtual mine data; visually presenting a virtual mine; respectively creating a mine card mathematical model, a mine card dynamic module corresponding to the virtual mine card and a virtual mine card sensor; deploying a virtual mine card, acquiring data information of the virtual mine card, and sending the virtual mine data and the data information of the virtual mine card to a cloud intelligent scheduling and management system;
the cloud intelligent scheduling and management system is used for receiving the virtual mine data sent by the virtual simulation system, generating a mine map according to the virtual mine data, and dividing an operation area on the mine map; receiving data information of the virtual mine card, planning a virtual mine card driving path in an operation area, and generating virtual mine card driving path information; generating a scheduling instruction according to the scheduling information, and sending the scheduling instruction to the mine card unmanned control system;
the mine card unmanned control system is used for receiving the virtual mine card driving path information and the scheduling instruction issued by the cloud intelligent scheduling and management system, generating a driving instruction and sending the driving instruction to a mine card dynamic module in the virtual simulation system, wherein the driving instruction is used for driving the virtual mine card to drive in the virtual mine.
2. The mine unmanned transport test platform of claim 1, wherein:
the virtual simulation system is also used for creating a virtual excavator, excavator kinematic modules which are in one-to-one correspondence with the virtual excavator and virtual excavator sensors; deploying a virtual excavator in the virtual mine, acquiring data information of the virtual excavator, and sending the data information of the excavator to an excavator operation management system; further comprising:
the excavator collaborative operation management system is used for arranging a site placing point, a loading point, a site discharging point after loading and a bucket position in an operation area of a mine map; receiving data information of the excavator, generating a mine card entering/exiting instruction, and respectively sending the mine card entering/exiting instruction to a mine card dynamics module and an excavator kinematics module, wherein the entering instruction and the exiting instruction are used for controlling the virtual excavator to complete the whole loading process;
and the cloud intelligent scheduling and management system is used for automatically matching mine card information and shovel information of the excavator according to the mine card information and the shovel information provided by the virtual simulation system and the excavator cooperative operation management system, so that the mine car and the shovel of the excavator can cooperatively operate in an optimal mode.
3. The unmanned transportation simulation test platform for mining area of claim 2, wherein the virtual simulation system comprises:
the virtual mine building module is used for receiving real mine data, building a virtual mine and sending the virtual mine data to the cloud intelligent scheduling and management system;
the virtual mine card creating module is used for receiving real mine card data and creating a mine card mathematical model, a mine card dynamic module and a virtual mine card sensor;
and the virtual excavator creating module is used for receiving the real excavator data and creating an excavator mathematical model, an excavator kinematics module and an excavator virtual sensor.
4. The unmanned transportation simulation test platform for mining area of claim 3, wherein the excavator cooperative operation management system comprises
The excavator operation management module is used for planning an excavator operation area in the operation area, arranging a site entering point, a loading point, a site exiting point after loading and a bucket position in the excavator operation area, and sending the site entering point, the loading point, the site exiting point after loading and the bucket position to the cloud intelligent scheduling and management system;
and the digging machine auxiliary module is used for receiving the data information of the virtual mine card and the data information of the digging machine, generating a digging machine control instruction and sending the digging machine control instruction to the digging machine kinematics module.
5. The unmanned transportation simulation test platform in mining area of claim 4, wherein the cloud intelligent dispatching and management system comprises:
the map scene dividing module is used for receiving the virtual mine data, generating a mine map and dividing an operation area on the mine map;
the route planning module is used for receiving data information of the mine card and information of an entry point, a loading finishing exit point and a bucket position sent by the excavator cooperative operation management system, planning a mine card running route in an operation area, generating route information and sending the route information to the mine card unmanned control system;
the scheduling management module is used for receiving scheduling information, generating a scheduling instruction and sending the scheduling instruction to the mine card unmanned control system;
the shovel matching management module is used for automatically matching mine card information and shovel information of the excavator according to the mine card information and the shovel information provided by the virtual simulation system and the excavator cooperative operation management system, so that the mine car and the shovel of the excavator cooperate to operate in an optimal mode;
the equipment monitoring safety management module is used for receiving data transmitted by the virtual simulation system, the mine card unmanned control system and the excavator cooperative operation management system in real time, displaying the data and giving an alarm according to a preset threshold value;
and the data statistical analysis module is used for receiving the data transmitted by the equipment monitoring and safety management module, analyzing the data and generating a report.
6. The unmanned transportation simulation test platform for mining area of claim 5, wherein the unmanned control system for mining card comprises
The environment perception submodule is used for receiving data information of the virtual mine card, acquiring surrounding environment information of the virtual mine card and sending the surrounding environment information to the decision planning submodule;
the decision planning submodule is used for planning the driving path of the virtual mine card according to the data information of the virtual mine card sent by the environment perception submodule and the path data information and the scheduling instruction sent by the cloud intelligent scheduling and management system;
the control submodule is used for receiving the virtual mine card driving path sent by the decision planning submodule, marking a mine card control instruction and sending the mine card control instruction to the bottom subsystem module;
and the bottom subsystem module is used for receiving the mine card control instruction sent by the control submodule, analyzing the mine card control instruction, generating an analysis control instruction and sending the analysis control instruction to the mine card dynamic model.
7. The unmanned transportation simulation test platform of mining area of claim 6, wherein the data information of the virtual mine card itself comprises the position, state and course angle of the virtual mine card in the virtual mine; the data information of the virtual excavator comprises the position of the virtual excavator in the virtual mine and the position of a bucket on the excavator.
8. The unmanned transportation simulation test platform of mine area of claim 7, wherein the virtual mine card sensor comprises at least one of a camera module, a laser radar module, a millimeter wave radar module or a positioning navigation module; the virtual excavator sensor comprises at least one of a camera module, a laser radar module, a millimeter wave radar module or a positioning navigation module.
9. A mine unmanned transportation simulation method based on the mine unmanned transportation simulation test platform according to any one of claims 1 to 8, characterized in that:
the method comprises the following steps:
the virtual simulation system builds a virtual mine and generates virtual mine data; visually presenting a virtual mine; respectively creating a mine card mathematical model, a mine card dynamic module corresponding to the virtual mine card and a virtual mine card sensor; deploying a virtual mine card, acquiring data information of the virtual mine card, and sending the virtual mine data and the data information of the virtual mine card to a cloud intelligent scheduling and management system;
the cloud intelligent scheduling and management system is used for receiving the virtual mine data sent by the virtual simulation system, generating a mine map according to the virtual mine data, and dividing an operation area on the mine map; receiving data information of the virtual mine card, planning a virtual mine card driving path in an operation area, and generating virtual mine card driving path information; generating a scheduling instruction according to the scheduling information, and sending the scheduling instruction to the mine card unmanned control system;
the mine card unmanned control system receives virtual mine card driving path information and a scheduling instruction issued by the cloud intelligent scheduling and management system, generates a driving instruction, and sends the driving instruction to a mine card dynamics module in a virtual simulation system, wherein the driving instruction is used for driving the virtual mine card to drive in a virtual mine.
10. The method for simulating unmanned transportation in a mining area according to claim 9, characterized by comprising the following steps:
the virtual simulation system creates virtual excavators according to the real excavators, the excavator kinematic models and the virtual excavator sensors which correspond to the virtual excavators one by one, deploys the virtual excavators in the virtual mine, and collects data of the virtual excavators and sends the data to the excavator cooperative operation management system;
the excavator collaborative operation management system plans a loading area in a virtual mine, sets a site entering point, a loading point, a site exiting after loading and a bucket position of a virtual mine card in the loading area, sends the site entering point, the loading point, the site exiting after loading and the bucket position, and sends planning loading information to a cloud intelligent scheduling and management system; receiving data information of a virtual excavator and data information of a mine card, generating an excavator driving instruction and sending the excavator driving instruction to an excavator kinematics module;
the excavator kinematics module receives an excavator driving instruction and drives the excavator to complete loading action in cooperation with the virtual mine card.
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