CN113581198B - Unmanned mine car parking control method based on parking control point - Google Patents
Unmanned mine car parking control method based on parking control point Download PDFInfo
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- CN113581198B CN113581198B CN202110705541.4A CN202110705541A CN113581198B CN 113581198 B CN113581198 B CN 113581198B CN 202110705541 A CN202110705541 A CN 202110705541A CN 113581198 B CN113581198 B CN 113581198B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
Abstract
The invention discloses a parking control method of an unmanned mine car based on a parking control point, which comprises the following specific steps of obtaining road information of a mine and positioning information of a digging machine; determining a turning control point of the mine car and the closest point of the main road of the excavator according to the excavator positioning information; determining the intersection point and the return intersection point of the mine car by using the obtained closest point of the main road of the excavator; and simultaneously determining a reversing control point of the mine car according to the turning control point and the mine car joint point. According to the invention, the mine car is accurately guided by acquiring the road information of the mine and the positioning point information of the excavator and selecting different control points with different functions in the process of the parking path of the mine car, so that the mine car can be controlled to be more accurately stopped at the charging point when parking, the problems that the parking failure caused by the fact that the mine digging point is gradually far away from the trunk road is not ensured due to the fact that the parking distance is increased and the parking failure caused by the obstacle in the process of parking can be solved, and the success rate of parking and the overall parking efficiency are improved.
Description
Technical Field
The invention relates to the technical field of unmanned mine cars, in particular to a parking control method of an unmanned mine car based on a parking control point.
Background
At present, unmanned mine car all drives the machine setpoint through backing a car directly at the intersection point in the charging process of parking in the mine, and a plurality of problems can appear in this kind of mode of parking, if: along with the continuous operation of the excavator, the excavation point is farther and farther from the main road, and the backing speed is very slow, so that the whole loading and parking efficiency is influenced; in addition, a connecting line between the intersection point and the positioning point of the excavator is not in the direction of the excavator, and although no barrier exists in the direction of the excavator, the obstacle can not be guaranteed to be met during reversing the automobile, so that parking failure is caused, and the inaccurate parking can be caused when the reversing distance is too long.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and in order to realize the aim, the invention adopts the parking control point-based unmanned mine car parking control method to solve the problems in the background technology.
A parking control method of an unmanned tramcar based on a parking control point comprises the following steps:
acquiring road information of a mine and positioning information of an excavator;
determining a turning control point of the mine car and the closest point of the main road of the excavator according to the positioning information of the excavator;
determining the intersection point and the return intersection point of the mine car by using the obtained closest point of the main road of the excavator;
and simultaneously determining a reversing control point of the mine car according to the turning control point and the mine car joint point.
As a further aspect of the invention: the specific steps of determining the turning control point of the mine car according to the digging machine positioning information comprise:
firstly, acquiring positioning point coordinates of digging positioning information and a digging machine orientation angle;
calculating the coordinates of the turning control points according to the coordinates of the positioning points and the heading angle of the excavator;
the coordinate calculation formula is as follows:
and (X, y and theta) are positioning information of the excavator, L is n + d + X is the reversing distance, n + d is the distance of n parking spaces d, and X is the length of the shovel arm of the excavator.
As a further aspect of the invention: the specific step of determining the closest point of the main road of the excavator according to the excavator positioning information comprises the following steps:
acquiring preset road information of a mine, and acquiring positioning information of a current excavator, wherein the positioning information comprises longitude and latitude of the excavator and orientation angle information of a shovel arm;
calculating the distance from each point of the main road to the positioning point according to each point of the main road of the road information and the positioning point of the excavator;
taking the point with the closest distance from each point of the main road to the positioning point as the closest point of the main road of the excavator;
the closest point distance calculation formula is as follows:
wherein (x, y) is the positioning point coordinate of the excavator, (x) i ,y i ) Is the ith point coordinate of the main road.
As a further aspect of the invention: the specific steps of determining the intersection point and the return trip intersection point of the mine car by using the obtained closest point of the main road of the excavator comprise:
obtaining the closest point of a main road of the excavator and the current heading angle of the excavator;
judging whether an outward directed line segment of the direction of the excavator has an intersection point with the main road or not according to the current excavator direction angle;
if the intersection point exists, the position which takes the intersection point as a starting point and backs for a preset distance S is taken as an intersection point;
if no intersection point exists, the position which is returned by a preset distance S by taking the closest point as a starting point is taken as an intersection point;
meanwhile, the position advanced by the preset distance S' by taking the closest point as a starting point is taken as a return trip intersection point.
As a further aspect of the invention: the concrete steps of determining the reversing control point of the mine car according to the turning control point and the mine car intersection point comprise:
obtaining a turning control point and an excavator positioning point;
taking the turning control point as a plumb foot to serve as a vertical line of a line segment from the turning control point to the positioning point of the excavator;
then according to the foot drop, the preset distance S is set CB Obtaining two points B1 and B2 on the vertical line as reversing control points;
the calculation formula of the reversing control point is as follows:
in the formula (x) C ,y C ) Is the coordinate of the turning control point, and theta is the angle number;
judging whether an angle between the turning control point as a vertex and an intersection point and a reversing control point as two sides is an obtuse angle or not;
if the angle is acute, the angle is obtuse, the final reversing control point is determined.
Compared with the prior art, the invention has the following technical effects:
by adopting the technical scheme, the longitude and latitude and the shovel arm orientation angle of the excavator are acquired by utilizing the positioning information acquisition equipment arranged on the excavator. And then acquiring the road information of the main road of the global path of the mine. The closest point and the turning control point of the main road of the excavator can be determined through calculation according to the longitude and latitude of the excavator and the orientation angle of the shovel arm, the intersection point and the return intersection point of parking are determined through the closest point, and the reversing control point can be obtained according to the turning control point and the intersection point. And then according to the control points, completing the parking and loading process of the mine car in the loading area, such as entering, turning, backing and returning. Therefore, the problem that the existing car backing distance is increased due to the fact that the mine digging point is gradually far away from the main road, and the car backing failure caused by the fact that obstacles exist in the car backing process can not be guaranteed is solved, and the success rate of parking and the overall parking efficiency are improved.
Drawings
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
FIG. 1 is a schematic illustration of steps of a method of controlling parking of an unmanned mining vehicle according to some embodiments disclosed herein;
FIG. 2 is a schematic illustration of a shovel and a trunk having an intersection according to some embodiments of the present disclosure;
FIG. 3 is a schematic illustration of a excavator and a trunk without an intersection according to some embodiments disclosed herein;
fig. 4 is a schematic diagram of a selection of reverse control points according to some embodiments disclosed herein.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The driving process of the unmanned mine car is divided into two stages, wherein the first stage is to track the unmanned mine car from a discharge point under a mountain to a mine charging area along a trunk road, the second stage is to find a proper junction point on the mine, the tracking control of the unmanned mine car is handed to a loading parking control (ALP) for path planning, and a plurality of reasonable temporary control points are designed in the path planning process to guide the mine car to simulate manual driving and finally reach the charging point.
Meanwhile, inertial navigation receiving equipment is arranged at the rotation center of the shovel arm of the excavator and used for acquiring longitude and latitude information of the current excavator and the orientation angle of the shovel arm. And recording the longitude and latitude and orientation angle information of the current position, and feeding back the information to the card adjusting platform.
Referring to fig. 1, in an embodiment of the present invention, a parking control method for an unmanned mining vehicle based on a parking control point includes:
firstly, a card adjusting platform issues longitude and latitude and orientation angle information of the current position of an excavator to an unmanned mine car through a 4G gateway, an MDC (media data center) computing platform on the unmanned mine car receives the longitude and latitude and orientation angle information of the current position of the excavator, and then combines with road information recorded in advance to compute control points which are required to pass by when the position of the mine car reaches a shovel loading position, wherein the control points comprise an intersection point A, a turning control point C, a backing control point B, a closest point E of the excavator to a main trunk road, an excavator positioning point D and a return intersection point F; the sequence of the mine car reaching each control point is as follows: firstly, the vehicle runs from the junction A to the turning control point C in the forward direction, then the vehicle speed is reduced to run to the reversing control point B, the vehicle is stopped at the point B, the reverse gear is hung, the vehicle runs to the charging point D in the reverse direction, the vehicle runs to the junction F at the downhill after the charging is finished, and finally the whole charging process is finished by tracking the downhill.
S1, acquiring road information of the mine and positioning information of the excavator;
s2, determining a turning control point of the mine car and the nearest point of the main road of the excavator according to the excavator positioning information;
the concrete steps of calculating and selecting the turning control point comprise:
firstly, acquiring positioning point coordinates of digging positioning information and a digging machine orientation angle;
calculating the coordinates of the turning control points according to the coordinates of the positioning points and the heading angle of the excavator;
the coordinate calculation formula is as follows:
and (X, y and theta) are positioning information of the excavator, L is n + d + X is the reversing distance, n + d is the distance of n parking spaces d, and X is the length of the shovel arm of the excavator.
In a particular embodiment, as shown in figure 2, at the point of the excavator which is pushed outwards upwards by L1 m, where L1 is taken to be 40m, at the D point reference point. The manual driving reversing distance is approximately the distance of n parking spaces, according to the actual situation, n is 3, each parking space is approximately about 10m, in addition, the arm length X m of the excavator needs to be considered in automatic driving, the current model is that the arm length is 10m in PC2000 excavating, therefore, the similar reversing distance can be set to be L1 n d + X in automatic driving, and the reversing distances corresponding to excavating machines of other model sizes can be obtained by analogy. And substituting the coordinates into the coordinate formula to obtain the coordinates of the turning control point.
The specific steps of calculating and selecting the closest point of the main road of the excavator comprise:
acquiring preset road information of a mine, and acquiring positioning information of a current excavator, wherein the positioning information comprises longitude and latitude of the excavator and orientation angle information of a shovel arm;
calculating the distance from each point of the main road to the positioning point according to each point of the main road of the road information and the positioning point of the excavator;
taking the point with the closest distance from each point of the main road to the positioning point as the closest point of the main road of the excavator;
the closest point distance calculation formula is as follows:
wherein (x, y) is the positioning point coordinate of the excavator, (x) i ,y i ) Is the ith point coordinate of the main road.
In the specific implementation mode, the longitude and latitude information of a positioning point D of the excavator is known, the longitude and latitude information of each point on the main road is known, and the D point (x, y) and each point (x) on the main road can be calculated through a distance formula between the two points i ，y i ) And (4) selecting the point with the minimum numerical value, namely the point with the shortest distance, and obtaining the closest point E.
S3, determining the intersection point and the return intersection point of the mine car by using the obtained closest point of the main road of the excavator; the method comprises the following specific steps:
obtaining the closest point of a main road of the excavator and the current heading angle of the excavator;
judging whether an outward directed line segment of the direction of the excavator has an intersection point with the main road or not according to the current excavator direction angle;
if the intersection point exists, the position which takes the intersection point as a starting point and backs for a preset distance S is taken as an intersection point;
if no intersection point exists, the position with the closest point as a starting point and the preset distance S is backed off as an intersection point;
meanwhile, the position advanced by the preset distance S' by taking the closest point as a starting point is taken as a return trip intersection point.
In the specific embodiment, as shown in fig. 2 and 3, fig. 1 shows a case where the excavator faces the main road at an intersection, and fig. 2 shows a case where the excavator faces the main road at no intersection. And (4) judging whether an intersection point exists between the directed line segment and the trunk road, wherein the directed line segment extends upwards and outwards for a certain distance according to the direction of the excavator. Specifically, two situations can be distinguished:
there is an intersection with the trunk: the intersection point is P, and in order to ensure that the point B is on the right side of the shovel arm of the excavator, the point ≤ ACB needs to be obtuse angle, and then the point P is taken as a starting point to retreat (i.e. the vehicle reversing direction) Sm, and S takes a point of 50m as the intersection point A according to actual conditions.
No intersection with the trunk road: as the excavator is continuously deep in operation, the excavator is far away from the main road, the directed line segment possibly has no intersection with the main road, and then the directed line segment moves backwards (namely the reversing direction of the vehicle) Sm by taking the closest point E as a starting point, wherein S selects a point of 50m as an intersection point A according to actual conditions.
Meanwhile, returning to the trunk road for return trip handover after charging is completed, specifically, according to the closest point E of the trunk road when going downhill, the method is the same as the method for going uphill, and collision between vehicles going downhill and downhill is avoided. And the position which is advanced by a preset distance S 'by taking the closest point as a starting point is taken as a return trip intersection point, wherein S' can be selected to be 60m according to the actual situation.
And S4, determining the reverse control point of the mine car according to the turning control point and the mine car joint point. The method comprises the following specific steps:
obtaining a turning control point and an excavator positioning point;
taking the turning control point as a plumb foot to serve as a vertical line of a line segment from the turning control point to the positioning point of the excavator;
then according to the foot drop, the preset distance S is set CB Two points B1 and B2 on the vertical line are obtained as reversing control points;
the calculation formula of the reversing control point is as follows:
in the formula (x) C ,y C ) Is the coordinate of the turning control point, and theta is the angle number;
judging whether an angle from the turning control point as a vertex to the intersection point and the reversing control point as two sides is an obtuse angle or not;
if the angle is acute, the angle is obtuse, the final reversing control point is determined.
In the embodiment, a vertical line of a straight line DC is drawn at a turning control point C, points B1 and B2 are respectively selected at the left end and the right end of the vertical line, and the lengths of CB1 and CB2 are taken as S CB m, which may be scaled to 12m in practice, may also be modified appropriately, where the reverse control point B selects to reverse at point B1 or at point B2 according to the position of the intersection point a on the main road, such as reverse points B1 or B2 shown in fig. 4, and in order to simulate the habit of manual driving, in general, if the excavator is on the left side of the main road, the excavator is selected to reverse at the right side point of the main road, and the excavator is on the right side of the main road, the excavator is selected to reverse at the left side point of the excavator. Along with the difference of the position of an intersection point A, the angle ACB can be an obtuse angle and also can be an acute angle, when the angle ACB is specified to be an obtuse angle, a blunt angular point B is taken as a reversing point, in order to ensure that the angle ACB is an obtuse angle when the point B is on the right side of the excavator, A should be on the left side of the intersection point P of the excavator towards the main road, B1, and the calculation process of the point B2 is as follows:
and (3) using the included angle ACB of AC and CB as a cosine theorem, and if the included angle ACB is abandoned in an acute angle and is an obtuse angle, selecting the side point as a reversing control point B point.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents, which should be construed as being within the scope of the invention.
Claims (2)
1. A parking control method of an unmanned mine car based on a parking control point is characterized by comprising the following specific steps:
acquiring road information of a mine and positioning information of an excavator;
determining a turning control point of the mine car and the closest point of the main road of the excavator according to the positioning information of the excavator;
the specific steps of determining the turning control point of the mine car according to the digging machine positioning information comprise:
firstly, acquiring coordinates of a positioning point of excavator positioning information and an excavator orientation angle;
calculating the coordinates of the turning control points according to the coordinates of the positioning points and the heading angle of the excavator;
the coordinate calculation formula of the turning control point is as follows:
wherein, (X, y, θ) is positioning information of the excavator, L ═ n × d + X is a reversing distance, n × d is a distance of n parking spaces d, and X is a length of a shovel arm of the excavator;
the method comprises the following steps of acquiring a junction and a return junction, wherein the method specifically comprises the following steps:
obtaining the closest point of a main road of the excavator and the current heading angle of the excavator;
judging whether an outward directed line segment of the direction of the excavator has an intersection point with the main road or not according to the current excavator direction angle;
if the intersection point exists, the position which takes the intersection point as a starting point and backs for a preset distance S is taken as an intersection point;
if no intersection point exists, the position which is returned by a preset distance S by taking the closest point as a starting point is taken as an intersection point;
meanwhile, the position of a preset distance S' is pushed forward by taking the closest point of the main road of the excavator as a starting point to serve as a return stroke intersection point;
determining a reversing control point of the mine car according to the turning control point and the intersection point, wherein the method comprises the following specific steps:
obtaining a turning control point and an excavator positioning point;
taking the turning control point as a plumb foot to serve as a vertical line of a line segment from the turning control point to the positioning point of the excavator;
then a preset distance S is set on the vertical line at the distance of the vertical leg CB Obtaining two points B1 and B2 on the vertical line;
judging whether an angle formed by a straight line from the turning control point to the determined intersection point and a straight line from the turning control point to a point B1 on the vertical line as two sides and an angle formed by a straight line from the turning control point to the determined intersection point and a straight line from the turning control point to a point B2 on the vertical line as two sides are acute angles or obtuse angles, with the turning control point as a vertex;
if the angle is an acute angle, the angle is an obtuse angle, the preset distance S is formed between the corresponding distance of the obtuse angle and the foot CB The point of (2) is determined as the final reversing control point;
the sequence of the mine car reaching each control point is as follows: firstly, driving from a junction point to a turning control point in a forward direction, then reducing the vehicle speed to drive to a reversing control point, stopping at the reversing control point, engaging a reverse gear, driving to a charging point in a reversing direction, driving from the forward direction to a return junction point after charging is finished, and finally descending the mine car to finish the whole charging process according to a tracking route;
the intersection point is a point at which the mine car tracking system gives control right to the ALP loading and parking control system, the turning control point is a point which reaches a preset distance outwards in the upward direction of the excavator, the closest point of the excavator main road is a point at which the excavator is closest to the main road, and the return intersection point is a point at which the ALP loading and parking control system gives control right to the mine car tracking system.
2. The method for controlling parking of an unmanned mining vehicle based on a parking control point of claim 1, wherein the step of determining the closest point of the main road of the excavator according to the excavator positioning information comprises:
acquiring preset road information of a mine, and acquiring positioning information of a current excavator, wherein the positioning information comprises longitude and latitude of the excavator and orientation angle information of a shovel arm;
calculating the distance from each point of the main road to the positioning point according to each point of the main road of the road information and the positioning point of the excavator;
taking the point with the closest distance from each point of the main road to the positioning point as the closest point of the main road of the excavator;
the closest point distance calculation formula is as follows:
wherein (x, y) is the positioning point coordinate of the excavator, (x) i ,y i ) Is the ith point coordinate of the main road.
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