CN113743793A - Unloading and dispatching method and system for trucks in strip mine refuse dump - Google Patents
Unloading and dispatching method and system for trucks in strip mine refuse dump Download PDFInfo
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Abstract
The invention provides a method and a system for unloading and scheduling trucks in an open-pit mine dump, wherein the method comprises the following steps: acquiring the position coordinates of the boundary retaining wall, and generating a boundary coordinate curve function according to the position coordinates of the boundary retaining wall; acquiring the number of trucks in a dump; determining the number of the vacant dumping points according to the number of the trucks in the dump and the number of all dumping points in the dump; selecting a vacant dumping point as a target dumping point, acquiring an entrance coordinate of the target dumping point, and determining a boundary position coordinate of the target dumping point according to a boundary coordinate curve function and the entrance coordinate of the target dumping point; and generating path planning information according to the entrance position coordinates of the target dump points and the boundary position coordinates of the target dump points, and sending the path planning information to the dispatched truck. Above scheme can acquire the boundary coordinate information of refuse dump and send for the truck, dispatches the berth of truck, dumping, can assist the truck to berth at refuse dump step edge accurately, avoids taking place the accident.
Description
Technical Field
The invention relates to the technical field of waste discharge of trucks in an open-pit mine dump, in particular to an unloading scheduling method and system for trucks in the open-pit mine dump.
Background
In the process of mining strip mines, useless rocks need to be stripped while ores are mined and the stripped ores are transported to an earth dump to be discarded, 1 ton of ores are mined from the strip mines, 3-5 tons of rocks (the quantity of the rocks is determined by different mine conditions) need to be discarded, the workload is high, trucks are intensively dumped in the earth dump and the earth dump is used for leveling the earth, steps (similar to cliffs with certain height difference) are often formed at the intensively dumped positions of the trucks in the earth dump, the trucks are easy to have accidents when dumping, the danger of rolling off the steps can be caused when the vehicles are stopped improperly, the positions of the steps can be slowly changed due to continuous leveling of the bulldozers, how to accurately find the parking and dumping points for the trucks adopting the unmanned technology, and the safe and orderly earth dumping work is a problem to be solved urgently.
Disclosure of Invention
The invention aims to provide an unloading and dispatching method and system for trucks in an open-pit mine dump, and aims to solve the technical problem that an unmanned dumping truck in the prior art has higher potential safety hazard when unloading waste mining materials.
To this end, some embodiments of the present invention provide a method for unloading and scheduling trucks in a strip mine dump, including:
acquiring position coordinates of the boundary retaining walls, and generating a boundary coordinate curve function according to the position coordinates of all the boundary retaining walls;
acquiring the number of trucks in a dump;
determining the number of the vacant dumping points in the dump according to the number of the trucks in the dump and the number of all dumping points in the dump;
selecting an empty dumping point as a target dumping point, acquiring an entrance coordinate of the target dumping point, and determining a boundary position coordinate of the target dumping point according to the boundary coordinate curve function and the entrance coordinate of the target dumping point;
and generating path planning information according to the entrance position coordinates of the target dump points and the boundary position coordinates of the target dump points, and sending the path planning information to the dispatched truck.
In some embodiments of the application, the step of obtaining the position coordinates of the boundary retaining wall comprises:
acquiring the position coordinate of the bulldozer;
and determining the position coordinate of the boundary retaining wall according to the position coordinate of the bulldozer and the distance between the bulldozer and the boundary retaining wall.
According to the unloading scheduling method for the trucks in the strip mine dump, the position coordinates of the bulldozer are obtained by measuring the positioning device arranged on the bulldozer, and the position coordinates of the positioning device are used as the position coordinates of the bulldozer; in the step of determining the position coordinates of the boundary retaining wall according to the position coordinates of the bulldozer and the distance between the bulldozer and the boundary retaining wall, the method comprises the following steps:
obtaining an error distance d1Said error distance d1Indicating the vertical distance d of the positioning device from the blade at the front end of the bulldozer1；
Acquiring a reference coordinate, wherein the reference coordinate is a position coordinate measured by the positioning device and is used as a reference coordinate when the scraper knife reaches the boundary of a waste disposal site;
according to the reference coordinate, the included angle between the vertical line of the positioning device and the scraper knife and the warp/weft and the error distance d1And obtaining the position coordinates of the left end point and the right end point of the scraper knife, and taking the position coordinates of the left end point and the right end point of the scraper knife as the position coordinates of the boundary retaining wall.
In the method for scheduling unloading of a truck in an open-pit mine dump according to some embodiments of the present application, the step of selecting an empty dumping point as a target dumping point, obtaining an entrance coordinate of the target dumping point, and determining a boundary position coordinate of the target dumping point according to the boundary coordinate curve function and the entrance coordinate of the target dumping point includes:
acquiring the inlet position coordinates of all dumping points in the dump;
acquiring position coordinates of all trucks in a dump;
acquiring the position coordinates of the entrances of all the vacant dumping points;
and selecting one dumping point closest to the inlet of the refuse dumping point as a target dumping point from the inlet position coordinates of the vacant dumping points.
In the method for scheduling unloading of a truck in an open-pit mine dump according to some embodiments of the present application, the step of selecting an empty dumping point as a target dumping point, obtaining an entrance coordinate of the target dumping point, and determining a boundary position coordinate of the target dumping point according to the boundary coordinate curve function and the entrance coordinate of the target dumping point includes:
recording the unloading times of the truck at each unloading point in the dump;
acquiring the inlet position coordinates of all dumping points in the dump;
acquiring position coordinates of all trucks in a dump;
acquiring the inlet position coordinates of all vacant dumping points and the unloading times of the truck;
and selecting one dump point with the minimum truck unloading frequency from the truck unloading frequencies of the spare dump points as a target dump point.
In some embodiments of the application, the method for unloading and scheduling trucks in a strip mine dump according to the steps of generating path planning information according to the entrance position coordinates of the target dump point and the boundary position coordinates of the target dump point and sending the path planning information to a scheduled truck further includes:
obtaining position coordinates of the dispatched truck;
and when the distance between the position coordinate of the truck and the boundary position coordinate of the target dumping point is not larger than a preset first distance threshold value, controlling the truck to stop and dumping.
In some embodiments of the application, the method for unloading and scheduling trucks in a strip mine dump according to the steps of generating path planning information according to the entrance position coordinates of the target dump point and the boundary position coordinates of the target dump point and sending the path planning information to a scheduled truck further includes:
acquiring position coordinates of rear wheels of the dispatched truck;
and if the distance between the position coordinate of the rear wheel of the truck and the boundary position coordinate of the target dumping point is not larger than a preset second distance threshold value, controlling the truck to stop and dumping.
Some embodiments of the present application also provide a strip mine dump truck unloading and dispatching system, comprising:
the retaining wall boundary coordinate measuring module is arranged on the bulldozer; the retaining wall boundary coordinate measuring module comprises a first positioning device, a first processor and a first communication module, wherein the first positioning device is used for measuring the position coordinate of the bulldozer, the first processor is used for calculating the position coordinate of the bulldozer scraper knife according to the position coordinate measured by the first positioning device and the distance between the first positioning device and the bulldozer scraper knife, and the position coordinate information of the scraper knife is used as boundary retaining wall coordinate information; the first communication module is used for sending the boundary retaining wall coordinate information;
the boundary retaining wall coordinate management module is arranged on the management platform; the boundary retaining wall coordinate management module comprises a second communication module and a second processor, and the second communication module is at least used for receiving the boundary retaining wall coordinate information sent by the first communication module; the second processor is at least used for generating a boundary coordinate curve function according to the boundary retaining wall coordinate information;
the truck management module is arranged on a truck; the truck management module comprises a third communication module, a third processor, a third positioning device and a brake motor; the third communication module is at least used for receiving the boundary coordinate curve function sent by the second communication module; the third positioning device is used for detecting position coordinate information of the truck, and the third processor is at least used for determining a parking point of the truck according to the position coordinate information of the truck and a boundary coordinate curve function, controlling a brake motor to brake and executing dumping.
According to the unloading scheduling system of the trucks in the strip mine dump, the truck management module determines the vacant dumping points in the dump according to the inlet position coordinates of all dumping points in the dump and the position coordinates of all trucks in the dump; selecting a dumping point closest to the inlet of the refuse dumping point as a target dumping point from the inlet position coordinates of the vacant dumping points; or selecting one dump point with the smallest truck unloading frequency from the truck unloading frequencies of the spare dump points as a target dump point.
In some embodiments of the system for unloading and scheduling trucks in an open pit dump, the truck management module further comprises a millimeter wave radar; the millimeter wave radar is used for detecting the distance between the rear wheel of the truck and the obstacle;
the third processor is further used for controlling the truck to stop and execute dumping when the distance between the position coordinate of the truck detected by the third positioning device and the boundary position coordinate of the target dumping point is not larger than a preset first distance threshold or controlling the truck to stop and execute dumping when the distance between the position coordinate of the rear wheel measured by the millimeter wave radar and the boundary position coordinate of the target dumping point is not larger than a preset second distance threshold.
Compared with the prior art, the technical scheme provided by the embodiment of the invention at least has the following beneficial effects: the boundary coordinate information of the refuse dump is acquired in real time and sent to the truck, the parking and the dumping of the truck are dispatched, the truck can be assisted to be parked at the edge of the step of the refuse dump accurately, and falling and collision accidents are avoided.
Drawings
FIG. 1 is a flow chart of a method for unloading and scheduling trucks in a strip mine dump according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for unloading and scheduling trucks in a strip mine dump according to another embodiment of the present application;
FIG. 3 is a schematic diagram illustrating the calculation of the position coordinates of the retaining wall in one embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a boundary coordinate curve function in one embodiment of the present application;
FIG. 5 is a schematic illustration of calculating a truck dock position in one embodiment of the present application;
fig. 6 is a schematic structural diagram of a system according to an embodiment of the present application.
Detailed Description
The embodiments of the present invention will be further described with reference to the accompanying drawings. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present invention, and do not indicate or imply that the device or assembly referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. The technical solutions in the following embodiments provided in the present invention may be combined with each other unless contradictory to each other, and the technical features thereof may be replaced with each other.
The embodiment provides an unloading scheduling method for trucks in an open pit dump, which comprises the following steps as shown in fig. 1:
and S101, acquiring the position coordinates of the boundary retaining walls, and generating a boundary coordinate curve function according to the position coordinates of all the boundary retaining walls. The first positioning device may be mounted on the bulldozer. When the bulldozer levels the dump, the boundary retaining wall of the dump can be established through the bulldozer, the boundary retaining wall has a certain protection effect on the truck, and the truck can be prevented from directly falling off the step. And calculating the position coordinate of the boundary retaining wall according to the position coordinate of the first positioning device and the distance between the first positioning device and the boundary retaining wall. A virtual rectangular plane coordinate system may be established in the range of the waste disposal site, and the position coordinates measured by the first positioning device may be based on the rectangular plane coordinate system (or may be measured in the form of longitude values and latitude values without establishing a coordinate system between planes, which is described in the present embodiment as a method of establishing a rectangular plane coordinate system). When the bulldozer is leveling the dump, the bulldozer usually pushes earth from the inner side of the dump to the edge of the dump and forms a step, so that when a blade of a truck reaches the edge of the step and stops, the position coordinate of the bulldozer can be obtained by using the first positioning device, and the distance between the first positioning device and the blade (the position of the blade is the position of the retaining wall) is fixed and measurable, so that the position coordinate of the boundary retaining wall can be calculated according to the position coordinate of the first positioning device and the distance between the first positioning device and the boundary retaining wall. Sending the position coordinates of the boundary retaining walls to a management platform, and generating a boundary coordinate curve function according to the position coordinates of all the boundary retaining walls; and the management platform receives the position coordinates of the boundary retaining wall in real time and updates the boundary coordinate curve function.
For a large-area waste dump, because the width of a blade at the front section of a bulldozer is limited, multiple operations are usually required, so that the boundary retaining walls of the waste dump may also be formed by connecting one section by one section, if the width of the waste dump boundary is n times of the width of the blade of the bulldozer, n operations are required, one section of retaining wall is established after each operation and coordinate information is sent to a management platform, the management platform can receive the coordinate information of n boundary retaining walls, and the management platform can calculate the boundary coordinate curve function of the boundary retaining walls according to the coordinate information of each boundary retaining wall.
Because the truck is continuously dumped, the waste rocks under the steps of the dump are gradually filled, and a new ground is formed in the leveling process of the bulldozer, the boundaries of the dump are continuously moved (namely, the boundaries are continuously expanded outwards), so that the normal operation of the dumping work can be ensured only by continuously updating the position coordinates of the boundary retaining wall.
And S102, acquiring the number of trucks in the dump. The incoming trucks to each dump are detected and the number of trucks in the dump is determined based only on the difference between the number of trucks entering the dump and the number of trucks exiting the dump. In this embodiment, the trucks and the management platform may communicate with each other through RF, when the trucks enter and exit the dump, the management platform records information (the application of the RF technology is not described in this embodiment of the prior art), the management platform only needs to read the RF information of the trucks located in the dump, each truck has a positioning device, and after the trucks communicate with the management platform through RF communication, the management platform can know the position of each truck, so as to obtain the number of the trucks in the dump.
And S103, determining the number of the vacant dumping points in the dump according to the number of the trucks in the dump and the number of all dumping points in the dump. In a dump, the number of dump points is usually known and fixed, and information on the number of dump points can be prestored in the management platform. Because each truck in the dump occupies one dumping point, the number of the spare dumping points can be obtained by subtracting the number of the trucks in the dump from the number of all the dumping points. For the truck which is completely turned in the dump and is driven away from the dump (but is not driven out of the dump), the dump point occupied by the truck is actually in an empty state, but for the convenience of the truck to enter and exit, the dump point can still be regarded as an occupied state, and after the truck is completely driven out of the dump, the management platform updates the number of the empty dump points so as to ensure the orderliness of the truck to enter and exit and avoid the blocking and even collision among the trucks.
And S104, selecting a vacant dumping point as a target dumping point, acquiring the entrance coordinates of the target dumping point, and determining the boundary position coordinates of the target dumping point according to the boundary coordinate curve function and the entrance coordinates of the target dumping point. And judging whether the number of the vacant dumping points in the dump is not 0, if not, executing the step, otherwise, sending a parking waiting instruction to the truck.
S105: and generating path planning information according to the entrance position coordinates of the target dump points and the boundary position coordinates of the target dump points, and sending the path planning information to the dispatched truck. When the vacant dump points in the dump are not 0, it is indicated that at least one vacant dump point exists, one of the vacant dump points is selected as a target dump point, the number of dump points and the coordinates of the entrance position are known and fixed in the dump, and a truck enters through the entrance of the dump point to stop at the boundary of the dump point and execute dump. In the coordinate system between the planes of the refuse dump, the entrances of the dump points can be sequentially arranged in the direction of the x axis (namely the y axis coordinates are the same, and the x axis coordinates are different), and then the x axis coordinates of the entrance positions of the dump points are substituted into the boundary coordinate curve function to obtain the boundary coordinates of the dump points. And the management platform can generate a path plan according to the entrance position coordinates and the boundary position coordinates of the dumping point and send the path plan to the truck for dispatching the truck to run and dump.
By the scheme of the embodiment, the boundary retaining wall coordinate of the refuse dump can be positioned and updated in real time, after the truck enters the refuse dump, the boundary coordinate curve function of the boundary retaining wall can be received through the management platform, after the boundary position coordinate of the dumping point is calculated, the truck can be accurately parked at the edge of the dumping point for dumping, the truck can be guaranteed to automatically perform parking and dumping tasks in the refuse dump, the boundary retaining wall can be continuously reestablished along with continuous leveling of the bulldozer, the position coordinate of the boundary retaining wall can be continuously changed, the management platform can update the boundary coordinate curve function of the boundary retaining wall in real time, the truck can be guaranteed to acquire the latest boundary coordinate information every time the truck enters the refuse dump, and then accurate parking and dumping can be carried out.
In some embodiments, the method for dispatching truck unloading in a strip mine dump, as shown in fig. 2, may include the following steps:
s201: acquiring a position coordinate of a first positioning device; the first positioning device is arranged on the bulldozer; when the bulldozer levels the dump, the boundary retaining wall of the dump can be established through the bulldozer, the boundary retaining wall has a certain protection effect on the truck, and the truck can be prevented from directly falling off the step.
S202: obtaining an error distance d1Wherein said error distance d1Indicating the vertical distance d of said first positioning means from the blade at the front end of said bulldozer1(ii) a Error distance d1It can be known through measurement that for the convenience of calculation, first positioner on all bull-dozers all sets up in same position, makes the vertical distance of first positioner apart from between the spiller be unified distance.
S203: and acquiring a reference coordinate, wherein the reference coordinate is a position coordinate measured by the first positioning device when a blade on the bulldozer reaches the boundary of a waste dump.
S204: according to the reference coordinate, the included angle between the vertical line of the first positioning device and the scraper knife and the warp/weft line and the error distance d1And calculating the position coordinates of the left end point and the right end point of the scraper knife, and taking the position coordinates of the left end point and the right end point of the scraper knife as the position coordinates of the boundary retaining wall. Since the first positioning device acquiresThe position coordinate information of the positioning device is the position information of the positioning device itself, and the first positioning device is usually not directly arranged on the scraper knife, so that the distance between the first positioning device and the scraper knife needs to be calculated (the distance can be a fixed and uniform distance, and is convenient to uniformly convert), and the position coordinate of the scraper knife is calculated according to the position coordinate of the first positioning device.
As shown in FIG. 3, a rectangular plane coordinate system (x and y axes are parallel to the latitude and longitude, respectively) is established in the dump, wherein point P is the first positioning device, and the measured coordinate is (x)1，y1) M, N are two end points of the scraper knife respectively in the figure, d1I.e. the above-mentioned error distance d1(obtainable by measurement) d2、d3、d4、d5The length of (c) can be measured (considered known); the included angle a between the perpendicular line of the first positioning device and the shovel blade and the longitude can be obtained through instrument measurement (for example, a gyroscope and the like), and similarly, the included angle b, the included angle c and the included angle e can also be obtained through measurement, so that the length of the AM is as follows: AM ═ sin (angle a-angle b) · d4The length of AP is equal to cos (angle a-b) d4I.e. the abscissa of the M point is x1+sin(∠a-∠b)·d4Ordinate is y1+cos(∠a-∠b)·d4；
Similarly, NB is sin (arc-e) and d5，PB＝cos(∠c-∠e)·d5。
Through the above calculation, the coordinate at the known P point is (x)1，y1) In the case of (2), the coordinate of the M point is (x)1+sin(∠a-∠b)·d4，y1+cos(∠a-∠b)·d4) The coordinates of the N points are
(x1+cos(∠c-∠e)·d5，y1+cos(∠a-∠b)·d4) The position coordinates of the boundary retaining wall can be obtained by the method.
S205: sending the position coordinates of the boundary retaining wall to a management platform;
s206: generating a boundary coordinate curve function according to the position coordinates of all the boundary retaining walls;
as shown in fig. 4, since the bulldozer bladeThe boundary retaining wall may not form a continuous straight line due to the width of the boundary retaining wall and the topography of the refuse dump, the embodiment simulates the condition that the curve of the boundary retaining wall is in a sectional type under special conditions, the retaining wall is formed by 3 times of bulldozer operation to form three line segments, and the abscissa of four end points of the three line segments is x in sequence1，x2，x3，x4The ordinate is y1，y1，y2，y3(all the above coordinates can be obtained by the method in step S204), then (x) is1，x2) Within the interval, the function is y ═ y1(ii) a In (x)2，x3) Within the interval, the gradient is determined as k ═ y1-y2)/(x3-x2) Let y be kx + b, and point (x)2，y1) The binary can be found out as b ═ y1-(((y1-y2)/(x3-x2))·x2) Then the function of the segment is y ═ y ((y)1-y2)/(x3-x2))x+y1-(((y1-y2)/(x3-x2))·x2)。
In a similar way, in (x)3，x4) Within the interval, the function is:
y＝((y2-y3)/(x4-x3))x+y2-(((y2-y3)/(x4-x3))·x3) The calculation method is the same as above and is not described herein again.
Through the steps, the boundary coordinate curve function of the boundary retaining wall can be obtained.
S207: acquiring the number of trucks in a dump; in this embodiment, the trucks and the management platform may communicate with each other through RF, when the trucks enter and exit the dump, the management platform records information (the application of the RF technology is not described in this embodiment of the prior art), the management platform only needs to read the RF information of the trucks located in the dump, each truck has a positioning device, and after the trucks communicate with the management platform through RF communication, the management platform can know the position of each truck, so as to obtain the number of the trucks in the dump.
S208: and calculating the number of the vacant dumping points in the dump according to the number of the trucks in the dump and the number of all dumping points in the dump.
In a dump, the number of dump points is usually known and fixed, and information on the number of dump points can be prestored in the management platform. Because each truck in the dump occupies one dumping point, the number of the spare dumping points can be obtained by subtracting the number of the trucks in the dump from the number of all the dumping points. For the truck which is completely turned in the dump and is driven away from the dump (but is not driven out of the dump), the dump point occupied by the truck is actually in an empty state, but for the convenience of the truck to enter and exit, the dump point can still be regarded as an occupied state, and after the truck is completely driven out of the dump, the management platform updates the number of the empty dump points so as to ensure the orderliness of the truck to enter and exit and avoid the blocking and even collision among the trucks.
S209: is the number of empty dump points in the dump judged not to be 0? If yes, the process proceeds to step S210, otherwise, the process proceeds to step S215.
S210: and acquiring the inlet position coordinates of all dumping points in the dump. The coordinates of the entrance positions of all dumping points are known coordinates, can be preset in a refuse dump, and are input into the management platform.
S211: position coordinates of all trucks in the dump are obtained. Each truck is provided with a positioning device, the positioning devices are communicated with the management platform in real time in the dump, and the management platform can acquire the position coordinate information of the truck in real time.
S212: and acquiring the inlet position coordinates of all the vacant dumping points.
S213: and selecting one dumping point closest to the inlet of the refuse dumping point as a target dumping point from the inlet position coordinates of the vacant dumping points.
S214: generating path planning information according to the entrance position coordinates of the target dump points and the boundary position coordinates of the target dump points and sending the path planning information to the truck; in the dump, the number of dump points and the entrance position coordinates are known and fixed, and the truck enters through the entrance of the dump point to stop at the boundary of the dump point and perform the dump. In the coordinate system between the planes of the refuse dump, the entrances of the dump points can be sequentially arranged in the direction of the x axis (namely the y axis coordinates are the same, and the x axis coordinates are different), and then the x axis coordinates of the entrance positions of the dump points are substituted into the boundary coordinate curve function to obtain the boundary coordinates of the dump points. And the management platform can generate a path plan according to the entrance position coordinates and the boundary position coordinates of the dumping point and send the path plan to the truck for dispatching the truck to run and dump.
S215: a parking waiting instruction is issued to the truck, and the process returns to step S209.
In an alternative embodiment, the present embodiment further provides a method for parking a truck according to boundary position coordinates of a target dump point, including the following steps:
and when the truck approaches the boundary position coordinate of the target dumping point, determining the parking point position of the truck through a radar or a third positioning device, and dumping.
As shown in fig. 5, the bottom end of the hatched portion in the figure is the entrance of the target dump point, the coordinate at the entrance is the known coordinate, the boundary retaining wall can be reached by driving along the y-axis direction through the entrance of the dump point, and the y-axis coordinate of the boundary of the dump point can be obtained by substituting the x-axis coordinate at the entrance of the dump point into the boundary coordinate curve function, which is used as the basis for stopping the truck. When the truck approaches the boundary, the parking position of the truck is determined through a millimeter wave radar or a third positioning device, and the specific method comprises the following steps:
a: receiving distance data of a truck rear wheel-track obstacle uploaded by a millimeter wave radar;
b: receiving position coordinate information uploaded by the third positioning device;
c: and when the distance data of the truck rear wheel obstacle measured by the millimeter wave radar is not larger than a preset distance threshold value or the position coordinate information uploaded by the third positioning device is superposed with the boundary coordinate of the dumping point, controlling the truck to stop and dumping.
In this embodiment, the parking position of the truck is further ensured, if any one of the boundary coordinate curve function or the coordinates acquired by the third positioning device has an error, the parking position of the truck is affected, and a risk of falling off a step is generated, so that the millimeter wave radar is added in the embodiment to monitor the distance between the rear wheel and the obstacle around the rear wheel of the vehicle in real time, two conditions of mutual or door relationship are set through presetting a distance threshold (for example, 20cm), that is, the distance between the rear wheel and the obstacle is not more than 20cm, and the position coordinate measured by the third positioning device falls on the boundary coordinate curve function, and when any one of the two conditions is met, the truck is controlled to park. This avoids interference due to inaccurate positioning or missing portions of the retaining wall. Optionally, the third positioning device may be fixedly disposed right above the rear wheel of the truck, so that the position coordinate measured by the third positioning device directly reflects the position coordinate of the rear wheel of the truck, thereby accurately controlling the parking position of the truck.
In another optional embodiment, after receiving the boundary coordinate curve function, the dispatched truck may not travel according to a preset parking route, or the preset parking route is not set, since the third positioning device may obtain the position of the truck in real time, the truck may flexibly select a route within the range of the refuse dump, and when the coordinates measured by the third positioning device fall on the boundary coordinate curve function, the truck is controlled to park.
In an alternative embodiment, the management platform in the method may be a tracked vehicle or a four-wheel vehicle controlled by a remote controller or adopting an unmanned technology, the tracked vehicle or the four-wheel vehicle may be deployed in the dump for a long time, necessary components such as a communication module, a circuit board, a processor, a positioning device and the like are integrated on the vehicle, the platform is used for managing and updating a boundary coordinate curve function, and the platform is communicated with the truck in real time to ensure that the truck can accurately acquire the boundary coordinates of the dump.
In an alternative embodiment, the target dump point may also be obtained by: recording the unloading times of the truck at each unloading point in the dump; acquiring the inlet position coordinates of all dumping points in the dump; acquiring position coordinates of all trucks in a dump; acquiring the inlet position coordinates of all vacant dumping points and the unloading times of the truck; and selecting one dump point with the minimum truck unloading frequency from the truck unloading frequencies of the spare dump points as a target dump point. When a plurality of vacant tipping points exist, the tipping point with the least tipping materials can be selected through the scheme, so that the tipping materials are more uniform, the phenomenon that the tipping materials are too much at some positions and the phenomenon that the tipping materials are too little at some positions are avoided.
The present embodiment provides an unloading dispatching system for a truck in an open pit dump, as shown in fig. 6, including:
and the retaining wall boundary coordinate measuring module 100 is arranged on the bulldozer. The device at least comprises a first positioning device 101, a first processor 102 and a first communication module 103, wherein the first positioning device 101 is used for measuring the position coordinates of the bulldozer, and the first processor 102 is used for calculating the position coordinates of the blade of the bulldozer according to the position coordinates measured by the first positioning device 101 and the distance between the first positioning device 101 and the blade of the bulldozer; the first communication module 103 is configured to send the boundary retaining wall coordinate information.
The boundary retaining wall coordinate management module 200 is arranged on the management platform and at least comprises a second communication module 201 and a second processor 202, wherein the second communication module 201 is at least used for receiving the boundary retaining wall coordinate information sent by the first communication module 103; the second processor 202 is at least configured to generate a boundary coordinate curve function according to the plurality of boundary retaining wall coordinate information.
In an alternative embodiment, the management platform is a mobile management platform, including but not limited to a crawler, a tricycle or a quadricycle, deployed at the dump site using remote control or unmanned technology.
The truck management module 300 is arranged on a truck and at least comprises a third communication module 301, a third processor 302, a third positioning device 303 and a brake motor 304; the third communication module 301 is at least configured to receive the boundary coordinate curve function sent by the second communication module 201; the third positioning device 303 is configured to detect position coordinate information of the truck, and the third processor 302 is configured to determine a parking spot of the truck according to the position coordinate information of the truck and control the brake motor 304 to brake and execute dumping.
Optionally, the first communication module 103, the second communication module 201, and the third communication module 301 all adopt zigbee communication modules, and information transmission through the zigbee communication modules belongs to the prior art in the field, and detailed description thereof is not provided in this embodiment.
Optionally, the system further includes a second positioning device 203, where the second positioning device 203 is disposed on the boundary-retaining wall coordinate management module (i.e., on the management platform), and is configured to obtain the position coordinates of the management platform in real time.
Alternatively, the first positioning device 101, the second positioning device 203 and the third positioning device 303 include, but are not limited to, RTK positioning devices, for example, in the method provided in embodiment 1 or embodiment 2, the reference station in the RTK positioning device is set at the origin (fixed state) of the coordinate system, and the rover station is set on the bulldozer, the management platform and the truck, respectively, to form the first, the second and the third positioning devices 303, respectively.
Optionally, the truck management module 300 determines the vacant dumping points in the dump according to the entry position coordinates of all dumping points in the dump and the position coordinates of all trucks in the dump; selecting a dumping point closest to the inlet of the refuse dumping point as a target dumping point from the inlet position coordinates of the vacant dumping points; or selecting one dump point with the smallest truck unloading frequency from the truck unloading frequencies of the spare dump points as a target dump point.
Optionally, the truck management module 300 further includes a millimeter wave radar 305, where the millimeter wave radar 305 is configured to detect a distance between a rear wheel of the truck and an obstacle, and the third processor 302 is further configured to control the brake motor 304 to operate and execute dumping when the distance between the rear wheel of the truck and the obstacle, which is detected by the millimeter wave radar 305, is not greater than a preset distance threshold or the position coordinate of the rear wheel of the truck reaches the boundary coordinate.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for unloading and scheduling trucks in a strip mine dump is characterized by comprising the following steps:
acquiring position coordinates of the boundary retaining walls, and generating a boundary coordinate curve function according to the position coordinates of all the boundary retaining walls;
acquiring the number of trucks in a dump;
determining the number of the vacant dumping points in the dump according to the number of the trucks in the dump and the number of all dumping points in the dump;
selecting an empty dumping point as a target dumping point, acquiring an entrance coordinate of the target dumping point, and determining a boundary position coordinate of the target dumping point according to the boundary coordinate curve function and the entrance coordinate of the target dumping point;
and generating path planning information according to the entrance position coordinates of the target dump points and the boundary position coordinates of the target dump points, and sending the path planning information to the dispatched truck.
2. The method of claim 1, wherein the step of obtaining position coordinates of the bounding wall comprises:
acquiring the position coordinate of the bulldozer;
and determining the position coordinate of the boundary retaining wall according to the position coordinate of the bulldozer and the distance between the bulldozer and the boundary retaining wall.
3. The strip mine dump truck unloading scheduling method of claim 2, wherein the position coordinates of the bulldozer are measured using a positioning device provided on the bulldozer, and the position coordinates of the positioning device are taken as the position coordinates of the bulldozer; in the step of determining the position coordinates of the boundary retaining wall according to the position coordinates of the bulldozer and the distance between the bulldozer and the boundary retaining wall, the method comprises the following steps:
obtaining an error distance d1Said error distance d1Indicating the vertical distance d of the positioning device from the blade at the front end of the bulldozer1；
Acquiring a reference coordinate, wherein the reference coordinate is a position coordinate measured by the positioning device and is used as a reference coordinate when the scraper knife reaches the boundary of a waste disposal site;
according to the reference coordinate, the included angle between the vertical line of the positioning device and the scraper knife and the warp/weft and the error distance d1And obtaining the position coordinates of the left end point and the right end point of the scraper knife, and taking the position coordinates of the left end point and the right end point of the scraper knife as the position coordinates of the boundary retaining wall.
4. The method of claim 2, wherein the step of selecting an empty dump point as a target dump point, obtaining an entrance coordinate of the target dump point, and determining a boundary position coordinate of the target dump point based on the boundary coordinate curve function and the entrance coordinate of the target dump point comprises:
acquiring the inlet position coordinates of all dumping points in the dump;
acquiring position coordinates of all trucks in a dump;
acquiring the position coordinates of the entrances of all the vacant dumping points;
and selecting one dumping point closest to the inlet of the refuse dumping point as a target dumping point from the inlet position coordinates of the vacant dumping points.
5. The method of claim 2, wherein the step of selecting an empty dump point as a target dump point, obtaining an entrance coordinate of the target dump point, and determining a boundary position coordinate of the target dump point based on the boundary coordinate curve function and the entrance coordinate of the target dump point comprises:
recording the unloading times of the truck at each unloading point in the dump;
acquiring the inlet position coordinates of all dumping points in the dump;
acquiring position coordinates of all trucks in a dump;
acquiring the inlet position coordinates of all vacant dumping points and the unloading times of the truck;
and selecting one dump point with the minimum truck unloading frequency from the truck unloading frequencies of the spare dump points as a target dump point.
6. The method of any of claims 1-5, wherein the step of generating and transmitting path planning information based on the coordinates of the entrance location of the target dump point and the coordinates of the boundary location of the target dump point to the scheduled truck further comprises:
obtaining position coordinates of the dispatched truck;
and when the distance between the position coordinate of the truck and the boundary position coordinate of the target dumping point is not larger than a preset first distance threshold value, controlling the truck to stop and dumping.
7. The method of any of claims 1-5, wherein the step of generating and transmitting path planning information based on the coordinates of the entrance location of the target dump point and the coordinates of the boundary location of the target dump point to the scheduled truck further comprises:
acquiring position coordinates of rear wheels of the dispatched truck;
and if the distance between the position coordinate of the rear wheel of the truck and the boundary position coordinate of the target dumping point is not larger than a preset second distance threshold value, controlling the truck to stop and dumping.
8. An open pit dump truck unloading scheduling system, comprising:
the retaining wall boundary coordinate measuring module is arranged on the bulldozer; the retaining wall boundary coordinate measuring module comprises a first positioning device, a first processor and a first communication module, wherein the first positioning device is used for measuring the position coordinate of the bulldozer, the first processor is used for calculating the position coordinate of the bulldozer scraper knife according to the position coordinate measured by the first positioning device and the distance between the first positioning device and the bulldozer scraper knife, and the position coordinate information of the scraper knife is used as boundary retaining wall coordinate information; the first communication module is used for sending the boundary retaining wall coordinate information;
the boundary retaining wall coordinate management module is arranged on the management platform; the boundary retaining wall coordinate management module comprises a second communication module and a second processor, and the second communication module is at least used for receiving the boundary retaining wall coordinate information sent by the first communication module; the second processor is at least used for generating a boundary coordinate curve function according to the boundary retaining wall coordinate information;
the truck management module is arranged on a truck; the truck management module comprises a third communication module, a third processor, a third positioning device and a brake motor; the third communication module is at least used for receiving the boundary coordinate curve function sent by the second communication module; the third positioning device is used for detecting position coordinate information of the truck, and the third processor is at least used for determining a parking point of the truck according to the position coordinate information of the truck and a boundary coordinate curve function, controlling a brake motor to brake and executing dumping.
9. The surface mine dump truck unloading dispatch system of claim 8, wherein:
the truck management module is used for determining vacant dumping points in the dump according to the position coordinates of the inlets of all dumping points in the dump and the position coordinates of all trucks in the dump; selecting a dumping point closest to the inlet of the refuse dumping point as a target dumping point from the inlet position coordinates of the vacant dumping points; or selecting one dump point with the smallest truck unloading frequency from the truck unloading frequencies of the spare dump points as a target dump point.
10. The surface mine dump truck unloading dispatch system of claim 8, wherein:
the truck management module also comprises a millimeter wave radar; the millimeter wave radar is used for detecting the distance between the rear wheel of the truck and the obstacle;
the third processor is further used for controlling the truck to stop and execute dumping when the distance between the position coordinate of the truck detected by the third positioning device and the boundary position coordinate of the target dumping point is not larger than a preset first distance threshold or controlling the truck to stop and execute dumping when the distance between the position coordinate of the rear wheel measured by the millimeter wave radar and the boundary position coordinate of the target dumping point is not larger than a preset second distance threshold.
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