CN114322993A - Method and system for generating loading area map of unmanned transport system of surface mine - Google Patents
Method and system for generating loading area map of unmanned transport system of surface mine Download PDFInfo
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- CN114322993A CN114322993A CN202210218073.2A CN202210218073A CN114322993A CN 114322993 A CN114322993 A CN 114322993A CN 202210218073 A CN202210218073 A CN 202210218073A CN 114322993 A CN114322993 A CN 114322993A
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Abstract
The invention discloses a method and a system for generating a map of a loading area of an unmanned transportation system of a surface mine.A bucket positioning coordinate corresponding to the height of all bucket teeth in the current mining period in the actual elevation range of a ground plane of the loading area is determined, a bucket tooth top coordinate is obtained through conversion, and a preset distance between a target point and the top of each bucket tooth is added to the top coordinate of each bucket tooth to obtain a target point position in the current mining period; further judging whether the bucket completes a complete ground-attaching excavation flow or a plane-pulling excavation flow; if yes, retaining the position of the target point obtained in the current mining period; if not, deleting the position of the target point obtained in the current mining period; and determining the newly added map boundary according to the positions of all the target points finally obtained in each mining period. The invention abandons the position of the target point obtained by incomplete loading or leveling operation close to the ground, and the finally determined position of the target point reflects the change of the loading area boundary of the surface mine more accurately and completely.
Description
Technical Field
The invention belongs to the field of unmanned surface mine driving, and relates to a method and a system for generating a loading area map of an unmanned surface mine transportation system.
Background
The surface mine is generally far away, the environment is severe, the aging trend of drivers in the transportation operation in mining areas is obvious, and the manpower resources in the mine production, particularly the drivers of transportation vehicles, become the main factors restricting the scale of the mine production. With the development of the domestic unmanned technology, domestic surface mines begin to practice the application of the unmanned technology in mine production, however, the production operation particularity and complexity of the surface mines causes the realization of the unmanned system of the surface mines to face a plurality of technical challenges, wherein the production efficiency is directly influenced by the accurate collection and efficient updating of the loading operation area map of the surface mine. The environment in the loading area is extremely severe, the loading area terrain is continuously changed along with the continuous propulsion of mining work, the efficiency of collecting, drawing and updating the map in the loading area directly influences the mine production, if the map is collected and updated manually, the great waste of resources such as time, manpower, material resources and the like is inevitably caused, and the production efficiency of the unmanned transportation system is greatly reduced. Therefore, the problem to be solved in the field is to improve the update iteration efficiency of the map of the loading operation area of the surface mine.
In the prior art relating to the map production field of the loading area, the position and the transfer data of equipment are taken, the transfer state specified by the excavator is utilized, the transfer operation part calculates the central position by utilizing position coordinates, whether the distance between the central position and the original boundary meets a threshold value or not is judged, and then a new boundary map is added or reduced by utilizing an external rectangle of the position. The method can solve the partial problem of updating the map of the loading area to a certain extent, but the judgment condition of utilizing the distance between the position center and the primary boundary as the updating has certain limitation, the condition that the updating condition is not triggered but the map is actually required to be updated exists, and the map cannot be updated in real time; secondly, the boundary change of the loading area cannot be accurately reflected by using the external rectangle of the position point as the newly added boundary, and the method is not suitable for being applied to the technical field of map generation of the loading operation area of the surface mine.
Disclosure of Invention
The invention provides a method and a system for generating a loading area map of an unmanned transport system of a surface mine, aiming at solving the problem that the terrain of the loading area is continuously changed along with the continuous propulsion of mining work and the current map generation method is not suitable for generating the loading area map of the unmanned transport system of the surface mine, and aiming at accurately and completely reflecting the change of the boundary of the loading area of the surface mine.
In order to achieve the technical purpose, the invention adopts the following technical scheme.
In one aspect, the invention provides a method for generating a loading area map of an unmanned transport system of a surface mine, which comprises the following steps: collecting bucket positioning coordinates on excavating equipment at a set sampling frequency in a current excavating period;
determining the corresponding bucket tooth height according to each bucket positioning coordinate; determining corresponding bucket positioning coordinates of the heights of all bucket teeth in the current mining period within the actual elevation range of the ground level of the loading area, converting according to the determined bucket positioning coordinates to obtain top coordinates of the bucket teeth, and adding the top coordinates of the bucket teeth to a preset distance from a target point to the top of the bucket teeth to obtain a target point position in the current mining period; judging whether the bucket completes one complete ground-attaching mining flow or plane-pulling mining flow according to the numerical value number of the target point positions obtained in the current mining period; if yes, retaining the position of the target point obtained in the current mining period; if not, deleting the position of the target point obtained in the current mining period;
and determining the newly added map boundary according to the positions of all the target points finally obtained in each mining period.
The technical scheme can accurately and completely reflect the change of the boundary of the loading area of the surface mine.
Further, in order to improve the update iteration efficiency of the map of the loading operation area of the surface mine and trigger the generation of the newly added map in time, the map generation method further comprises the steps of acquiring the central position coordinates of the mining equipment or the rotation center coordinates of the mining equipment in real time, determining the moving distance of the mining equipment according to the central position coordinates or the rotation center coordinates of the mining equipment, and if the moving distance is greater than or equal to a preset moving distance threshold value, triggering the mining equipment to determine the boundary of the newly added map according to the positions of all target points finally obtained in each mining period.
Further, comprising: and solving the minimum surrounding boundary of all the target point positions by adopting a map generation algorithm, carrying out smooth processing on the boundary and sampling at equal proportional intervals to form a newly added boundary.
Further, a method for determining whether the bucket completes a complete ground-engaging excavation process or a pull-out excavation process includes:
multiplying the number of the numerical values by the sampling frequency to obtain the actual time spent by the bucket in completing one complete ground-attached excavating process or plane-pulling excavating period;
and comparing the determined actual time spent in the mining period with a preset time threshold, and if the actual time spent in the mining period is greater than or equal to the preset time threshold, determining that the bucket completes one complete ground-attaching mining flow or plane-pulling mining flow.
Further, the map generation method further includes: setting a loading point, calculating four-vertex coordinates of a parking space boundary of the loading point, judging whether the four-vertex coordinates of the parking space of the loading point exceed a map boundary of a loading area according to the vehicle width and vehicle length of mining equipment, and triggering the mining equipment to determine a newly-added map boundary according to all target point positions finally obtained in each mining period if any one of the loading point or the four vertices exceeds the map boundary.
The existing mine map generation method does not fully consider the arrangement of a cable area, the generated map is not suitable for being used by mining equipment for towing cables, the application scene is limited, and potential safety hazards are brought to unmanned transportation operation of surface mines. In order to consider the application requirement of the mining equipment for the haul cable in the open-air loading area, on the basis of the technical scheme, the mining equipment further comprises:
if the mining equipment drags the cable, determining a cable area and a newly added cable area, including:
determining a cable initial coordinate, determining the extending length of the bucket according to the size of a cable reel, and acquiring position coordinates of each extending point of the bucket in the process that the bucket sweeps through a cable area;
collecting a rotation center coordinate, and generating a cable area boundary according to a cable initial coordinate, the rotation center coordinate and the collected position coordinates of each bucket extension point; and the driving area at the outer edges of the two crawler belts of the excavating equipment is used as a newly added cable area.
In a second aspect, the present invention further provides a surface mine unmanned transport system loading area map generation system, including: the map positioning system comprises a parameter configuration module, a positioning acquisition module and a map processing module;
the parameter configuration module is used for setting sampling frequency, the actual elevation range of the ground plane of the loading area and the distance between a target point and the top of the bucket tooth;
the positioning acquisition module is used for acquiring positioning coordinates of a bucket on the mining equipment at a set sampling frequency in the current mining period;
the map processing module is used for determining the corresponding bucket tooth height according to each bucket positioning coordinate; determining corresponding bucket positioning coordinates of the heights of all bucket teeth in the current mining period within the actual elevation range of the ground level of the loading area, converting according to the determined bucket positioning coordinates to obtain top coordinates of the bucket teeth, and adding the top coordinates of the bucket teeth to a preset distance from a target point to the top of the bucket teeth to obtain a target point position in the current mining period; judging whether the bucket completes one complete ground-attaching mining flow or plane-pulling mining flow according to the numerical value number of the target point positions obtained in the current mining period; if yes, retaining the position of the target point obtained in the current mining period; if not, deleting the position of the target point obtained in the current mining period; and determining the newly added map boundary according to the positions of all the target points finally obtained in each mining period.
Further, the system also comprises an uploading decision module;
the positioning acquisition module is also used for acquiring the coordinates of the center position of the equipment or the coordinates of the rotation center of the mining equipment in real time;
and the uploading decision module is used for determining the moving distance of the mining equipment according to the equipment center position coordinate or the rotation center coordinate, and triggering the mining equipment to determine the newly added map boundary according to all the target point positions finally obtained in each mining period if the moving distance is greater than or equal to a preset moving distance threshold value.
And the system further comprises a map management system, wherein the map management system is used for receiving the newly added map boundary uploaded by the mining equipment and updating the map of the loading area according to the newly added map boundary.
Further, if the mining equipment drags the cable, the generation system further comprises a cable designation module, wherein the cable designation module is used for determining a cable area and a newly added cable area, and the generation system comprises:
determining a cable initial coordinate, determining the extending length of the bucket according to the size of a cable reel, and acquiring position coordinates of each extending point of the bucket in the process that the bucket sweeps through a cable area;
the positioning acquisition module acquires a rotation center coordinate;
the cable designation module is used for generating a cable area boundary according to a cable initial coordinate, a rotation center coordinate and the collected position coordinates of each bucket extension point; and the driving area at the outer edges of the two crawler belts of the excavating equipment is used as a newly added cable area.
The invention has the following beneficial technical effects: according to the method, under the condition that the height of the bucket tooth is within the actual elevation range in each mining period, a complete ground-attached mining process or plane drawing is further judged and completed, the position of a target point obtained by incomplete ground-attached loading or plane drawing operation of mining equipment in the mining process is abandoned, and the change of the boundary of a loading area of the surface mine is reflected more accurately and completely by determining the boundary of a newly added map according to the finally determined target point.
According to the method, the newly added map is triggered to be generated in time through the condition judgment step of setting and uploading the newly added map boundary, and the update iteration efficiency of the map in the loading operation area of the surface mine and the real-time performance of the map are improved, so that the operation efficiency of the whole surface mine unmanned transportation system is improved.
The map generation method provided by the invention fully considers the use of the mining equipment of the towing cable, can clearly identify the cable area on the newly added map, clearly displays the non-driving area in the loading area, and improves the safety of the operation in the loading area.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a flow chart of a method for generating a map of a loading area of an unmanned transport system of a surface mine according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a loading area map generation system according to an embodiment of the present invention;
FIG. 3 is a flow chart of automatic map collection according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a data upload condition determination process according to an embodiment of the present invention;
FIG. 5 is a flowchart of an embodiment of preprocessing a newly added map boundary and map uploading;
FIG. 6a is a schematic diagram of a loading area map boundary generation process according to an embodiment of the present invention;
FIG. 6b is a diagram illustrating a second process of generating a loading area map boundary according to an embodiment of the present invention;
FIG. 6c is a schematic diagram of a process for generating a map boundary of a loading area according to an embodiment of the present invention;
FIG. 6d is a diagram illustrating a fourth exemplary process of generating a map boundary of a loading area according to an embodiment of the present invention;
FIG. 6e is a fifth schematic diagram of a loading area map boundary generation process according to an embodiment of the present invention;
FIG. 6f is a sixth schematic view of a load zone map boundary generation process according to an embodiment of the invention;
FIG. 6g is a seventh schematic diagram of a loading area map boundary generation process according to an embodiment of the present invention;
FIG. 6h is an eighth schematic diagram of a loading area map boundary generation process according to an embodiment of the present invention;
wherein the reference numbers:
90. a loading area map generation system of the unmanned transport system of the surface mine; 902. a parameter configuration module; 904. a cable designation module; 906. a positioning acquisition module; 908. an uploading decision module; 910. a map processing module; 912. a map update module; 60. excavating equipment; 100. blasting a stockpile boundary; 110. non-blasting materials; 120. blasting a material pile; 130. loading an initial map boundary of the area; 140. a loading zone; 150. structuring a road boundary; 160. a travel path; 1. an electric shovel; 2. a cable; 3. a set of target point positions meeting the conditions; 4. digging a boundary; 5. adding a boundary in the loading area; 6. newly adding a cable area boundary; 7. a rotation center motion track; 10. a rotation center coordinate; 11. a cable start coordinate; 12. in the motion process, the position coordinates of the target point after the bucket is extended; 13. ending the cable area; 20. a cable region of the non-travelable region; 30. a map management system; 40. a loading vehicle; 41. a loading point; 42. a parking space vertex; 161. planning an entrance path; 162. and (5) an outgoing path.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Example 1: the method for generating the loading area map of the unmanned transportation system of the surface mine comprises the following steps:
collecting bucket positioning coordinates on excavating equipment at a set sampling frequency in a current excavating period;
determining the corresponding bucket tooth height according to each bucket positioning coordinate; determining corresponding bucket positioning coordinates of the heights of all bucket teeth in the current mining period within the actual elevation range of the ground level of the loading area, converting according to the determined bucket positioning coordinates to obtain top coordinates of the bucket teeth, and adding the top coordinates of the bucket teeth to a preset distance from a target point to the top of the bucket teeth to obtain a target point position in the current mining period;
judging whether the bucket completes one complete ground-attaching mining flow or plane-pulling mining flow according to the numerical value number of the target point positions obtained in the current mining period; if yes, retaining the position of the target point obtained in the current mining period; if not, deleting the position of the target point obtained in the current mining period;
and determining the newly added map boundary according to the positions of all the target points finally obtained in each mining period.
The mining equipment is provided with a positioning acquisition module for acquiring positioning information of the mining equipment. Optionally, in a specific embodiment, the positioning coordinates are collected by a GNSS apparatus and a position sensor, and the position sensor includes: a tilt sensor, a pull-wire sensor or a millimeter wave radar range finder; and are different according to different mining equipment.
Mining equipment such as loaders, backhoe hydraulic excavators typically measure boom angle or length using a tilt sensor; electric shovels and front shovels typically use an inclination sensor and a pull sensor or a millimeter wave radar range finder to measure the boom inclination and the push rod length.
Installing a GPS to receive satellite positioning data; and establishing a kinematic model, and inputting GPS satellite positioning data, angle or length data into the kinematic model to perform coordinate transformation to solve the position coordinates of the bucket, namely the GPS positioning coordinates of the bucket teeth.
During specific implementation, the parameters needing to be preset comprise sampling frequency, the distance between a collection target point and the top of the bucket tooth, and the actual elevation of a ground plane of a loading area needing to be set and calibrated.
In this embodiment, the step of collecting position coordinates of the target point meeting the condition in the mining period specifically includes the following substeps:
(1) acquiring digging equipment bucket positioning data, determining corresponding bucket tooth heights according to bucket positioning coordinates, converting the bucket positioning coordinates corresponding to the bucket heights within the actual elevation range of the ground of a loading area into acquisition target point coordinates, namely converting the bucket positioning coordinates corresponding to all bucket tooth heights within the actual elevation range of the ground level of the loading area within the current digging period into bucket tooth top coordinates according to the determined bucket positioning coordinates, adding preset target point distance from each bucket tooth top coordinate to the bucket tooth top coordinates to obtain target point positions within the current digging period, and storing the target point positions within the current digging period in a target point position temporary list; the distance between the preset target point and the tooth top of the bucket tooth is an empirical measurement value, namely after the bucket is excavated and lifted close to the ground, a certain landslide can occur to the material pile, a certain distance exists between the boundary formed by the materials after the landslide and the boundary excavated close to the ground by the bucket, the distance fluctuates within a certain range during close-to-ground excavation, and the average measurement value is averaged according to experience to serve as the distance between the excavation target point and the top of the bucket tooth.
(2) Judging whether the data of the target point position temporary list meets the requirement that the bucket completes a complete ground-attaching mining or plane-pulling process, if so, storing the target point position temporary list data as a target point meeting the requirement into a target point position point set, and then emptying the target point position temporary list data, otherwise, directly emptying the target point position temporary list; the method comprises the following steps that a bucket of excavating equipment needs a certain time to complete a complete ground-attaching excavating or plane-pulling process, for example, a power shovel and a loader are loaded for more than 2s in a ground-attaching mode, a backhoe hydraulic excavator usually needs to be leveled up to repair the ground of a loading area to meet the elevation requirement, and the time for leveling the bucket to operate the bucket to be attached to the ground is usually more than 2 s; in actual working conditions, the bucket is not loaded against the ground, but part of points meet the elevation range, the operation is incomplete loading or leveling against the ground, the values acquired in the process are discarded, and therefore further judgment needs to be carried out on the target position points in the acquired temporary list of the target point positions.
Judging according to whether the time required for collecting the target point position temporary list element meets a complete workflow, optionally including:
multiplying the number of the numerical values by the sampling frequency to obtain the actual time spent by the bucket in completing one complete ground-attached excavating process or plane-pulling excavating period;
and comparing the determined actual time spent in the mining period with a preset time threshold, and if the actual time spent in the mining period is greater than or equal to the preset time threshold, determining that the bucket completes one complete ground-attaching mining flow or plane-pulling mining flow.
In other embodiments, a number preset value that can be actually obtained when the bucket completes one complete ground-adhering mining flow or one complete ground-pulling mining flow within the current mining period at the currently set sampling frequency may be predetermined, and if the number of the actually obtained numerical values is greater than or equal to the number preset value, it is determined that the bucket completes one complete ground-adhering mining flow or one complete ground-pulling mining flow.
In the embodiment, for convenience of recording and judging, the bucket state is marked as 1 when the height of the bucket tooth is within the actual elevation range, otherwise, the bucket state is marked as 0; when the bucket state mark is 0, the bucket lifts the bucket tooth to leave the elevation range for mining or discharging; repeatedly acquiring the bucket positioning data when the bucket state is 1 until the acquired bucket tooth height data meet the bucket state mark of 0; if the height of the bucket in the positioning data of the position of the bucket is not within the actual elevation range, directly marking the state of the bucket as 0;
and when the bucket state mark is 0, judging whether a complete ground-attaching excavation flow or plane pulling is finished once in the current excavation period.
Repeating the steps in the working process of the excavating equipment, and finally, centrally reserving the position points of the target points to obtain the position coordinates of all the target points meeting the conditions;
(3) and determining the newly added map boundary according to the positions of all the target points finally obtained in each mining period.
In the embodiment, under the condition that the height of the bucket tooth is within the actual elevation range in each mining period, a complete ground-attaching mining process or a plane-drawing process is further judged and completed, the target point position obtained by incomplete ground-attaching loading or plane-drawing operation is abandoned, and the finally determined target point position reflects the change of the boundary of the loading area of the surface mine more accurately and completely.
Example 2: on the basis of embodiment 1, the method for generating a loading area map of an unmanned transport system for a surface mine according to this embodiment further includes: determining the newly added map boundary and uploading condition judgment, wherein the judgment condition comprises the following conditions, and at least one condition is satisfied. In other embodiments, a timed upload or other triggering method may be selected to upload the newly added map boundary, which is not described too much.
As shown in fig. 1, 3, and 4, acquiring coordinates of a center position of the device or coordinates of a rotation center of the mining device in real time, optionally rejecting duplicate data therein, determining a movement distance of the mining device according to the coordinates of the center position of the device or the coordinates of the rotation center, and triggering the mining device to determine a newly added map boundary according to all target point positions finally obtained in each mining cycle if the movement distance is greater than or equal to a preset movement distance threshold, and optionally uploading the determined newly added map boundary by the mining device.
In specific implementation, the setting of the moving distance threshold needs to comprehensively consider system errors, specifically, displacement moving within a certain time, an allowable error of a positioning system, and a certain system error of mining equipment during rotation.
Optionally, the movement trajectory of the mining device is determined from the coordinates of the central position of the mining device.
Determining the boundary of the newly added map according to the positions of all the target points meeting the conditions obtained in each mining period, wherein the method comprises the following steps: and (4) solving the finally determined minimum surrounding boundary of all target point positions by adopting a map generation algorithm, smoothing the boundary (optionally adopting a graphic line processing tool) and sampling according to equal proportion or certain distance intervals to form a newly added map boundary.
In a specific embodiment, optionally, a map management system is further provided, and the map management system receives the newly added map boundary uploaded by the mining equipment. And the mining equipment sends newly-added data to a map management system, sends the newly-added boundaries of the loading area and the central movement track of the mining equipment to the map management system, clears the position point set of the target point, receives a success mark after successful sending, and automatically uploads the mark position 0.
In the specific embodiment, the method further comprises the steps of setting a loading point, calculating four-vertex coordinates of a parking space boundary of the loading point, judging whether the four-vertex coordinates of the parking space of the loading point exceed a map boundary of a loading area according to the vehicle width and vehicle length of the mining equipment, and triggering the mining equipment to determine a newly added map boundary according to all target point positions finally obtained in each mining period if any one of the loading point or the four vertices exceeds the map boundary.
According to the method, the updating iteration efficiency of the map in the loading operation area of the surface mine and the real-time performance of the map are improved by setting the condition judgment steps of adding and uploading the new map boundary, so that the operation efficiency of the whole surface mine unmanned transportation system is improved.
Implementation 3: on the basis of the above embodiment, in the method for generating the map of the loading area of the unmanned transportation system of the surface mine according to the embodiment, the mining equipment is provided with the cable, and a cable area needs to be set after the mining equipment for dragging the cable is moved to the position, the method for generating the map is shown in fig. 1, and the method further includes setting the cable area, and the specific method is as follows:
s31: pointing the bucket to one side of the cable, and manually triggering the cable area to set;
s32: selecting the extending length of the bucket according to the size of the cable drum, recording a cable starting coordinate, wherein the default cable starting coordinate is the position of bucket teeth of the bucket, and when the size of the cable drum exceeds the maximum extending distance of the bucket, the extending length of the bucket needs to be set, and the extending length is a rough value;
s33: rotating the big arm to enable the bucket to sweep through the cable, recording coordinates of the position of the bucket extending target point in the movement process, and finishing the cable area setting;
s34: and generating a cable area boundary according to the cable starting coordinate, the rotation center coordinate and the position coordinates of the bucket extension point in the process that the collected bucket extension target point sweeps through the cable area.
If the mining equipment is towed with cables, the driving areas at the outer edges of the two crawler belts are used as newly added cable areas, the process can be selected automatically, and manual setting is not needed.
As shown in fig. 5, the generated or added cable zone boundaries, the added map boundaries, and the center motion trajectory of the mining device are optionally uploaded to a map management system.
Optionally, the towing cable state of the mining equipment is that the towing cable exists in the equipment, the cable state is set to be 1, and otherwise, the cable state is set to be 0.
In a specific embodiment, the map management system performs map combination operation on the newly added boundary and the original loading area boundary, the cable area is set as the non-driving area, the map management system issues the map of the newly loaded area to relevant equipment, and each equipment selects the machine according to the running task condition of the equipment to update the map.
The existing mine map generation method does not fully consider the arrangement of a cable area, the generated map is not suitable for being used by mining equipment for towing cables, the application scene is limited, and potential safety hazards are brought to the earth people transportation operation of an open mine. The map generation method provided by the embodiment fully considers the use of the mining equipment for towing cables, and can clearly identify the cable area on the newly added map, so that the non-travelable area in the loading area is clearly shown.
Example 4: in correspondence with the surface mine unmanned transport system loading area map generation method provided in embodiment 1 above, the present embodiment provides a surface mine unmanned transport system loading area map generation system 90, as shown in fig. 2, including: a parameter configuration module 902, a positioning acquisition module 906 and a map processing module 910;
the parameter configuration module 902 is configured to set a sampling frequency, an actual elevation range, and a distance from a target point to the top of the bucket tooth;
the positioning acquisition module 906 is configured to acquire bucket positioning coordinates on the mining equipment 60 at a set sampling frequency in a current mining period;
the map processing module 910 is configured to determine a corresponding bucket tooth height according to each bucket positioning coordinate; determining corresponding bucket positioning coordinates of the heights of all bucket teeth in the current mining period within the actual elevation range of the ground level of the loading area, converting according to the determined bucket positioning coordinates to obtain top coordinates of the bucket teeth, and adding the top coordinates of the bucket teeth to a preset distance from a target point to the top of the bucket teeth to obtain a target point position in the current mining period; judging whether the bucket completes one complete ground-attaching mining flow or plane-pulling mining flow according to the numerical value number of the target point positions obtained in the current mining period; if yes, retaining the position of the target point obtained in the current mining period; if not, deleting the position of the target point obtained in the current mining period; and determining the newly added map boundary according to the positions of all the target points finally obtained in each mining period.
Example 5: on the basis of embodiment 4, the surface mine unmanned transport system loading area map generating system provided in this embodiment further includes an upload decision module 908 and a map update module 912;
the positioning acquisition module 906 is further configured to acquire a center position coordinate of the equipment or a rotation center coordinate of the mining equipment in real time;
the uploading decision module 908 is configured to determine a movement distance of the mining equipment according to the equipment center position coordinate or the rotation center coordinate, and if the movement distance is greater than or equal to a preset movement distance threshold, trigger the mining equipment to determine a newly added map boundary according to all target point positions finally obtained in each mining cycle and upload the newly added map boundary;
the map update module 912 sends the newly added map boundary to the map management system.
Example 6: on the basis of embodiment 4 or embodiment 5, if the mining equipment drags the cable, the system for generating a loading area map of an unmanned transportation system of a surface mine provided by this embodiment further includes: a cable assignment module 904 for determining a cable zone and a newly added cable zone, comprising:
determining a cable initial coordinate, determining the extending length of the bucket according to the size of a cable reel, and acquiring position coordinates of each extending point of the bucket in the process that the bucket sweeps through a cable area;
the positioning acquisition module acquires a rotation center coordinate;
the cable designation module is used for generating a cable area boundary according to a cable initial coordinate, a rotation center coordinate and the collected position coordinates of each bucket extension point; and the driving area at the outer edges of the two crawler belts of the excavating equipment is used as a newly added cable area.
The loading zone map generation system is mounted on the mining equipment 60. As shown in fig. 2, a map updating module 912 is further included for sending the new map data and the new cable area to the map management system 30 so that the map of the loading area is updated.
The map management system 30, which is usually operated in a mine fleet scheduling center, is mainly responsible for operations such as drawing, managing, revising, releasing the whole mine map, and also puts the related functions of the map management system in a vehicle-mounted map updating module, and completes map merging and generating operations at a vehicle-mounted end.
As shown in FIGS. 6a to 6 h: by taking an electric shovel as an example, the automatic acquisition and updating process and the cable area setting process of the surface mine loading area map are described, and the method specifically comprises the following steps:
as shown in fig. 6a, the loading area of the unmanned transport system of the surface mine comprises a loading area 140, an initial map boundary 130 of the loading area, a blasting material pile 120, a blasting material pile boundary 100, an unexploded material 110, a structured road boundary 150 and a driving path 160; after the blasting of the materials is finished, the crushed materials are cleaned by a bulldozer or a loader, and the boundary of an initial map is collected to form a loading area which accords with an unmanned transportation system.
As shown in fig. 6a, step a: setting parameters and calibrating in a parameter configuration module 902, setting the state of a trailing cable 2 of an electric shovel 1 of the mining equipment, the distance between a collection target point and the top of a bucket tooth, a moving distance threshold, a collection mode and calibrating the actual elevation of a loading area ground plane;
the electric shovel 1 is moved to a target position of a loading area, redundant cable coils are near the excavation starting position, the high-voltage cable is forbidden to be rolled by a transport vehicle, the cable is relatively thin in diameter and is frequently dragged to be adhered with dust, the size and the cultural characteristics are not obvious enough, and the environment sensing system of the unmanned transport vehicle has high difficulty in accurately identifying the cable, so that an electric shovel operator is required to set a cable area range by using the cable specifying module 904 and upload the cable area range to a map management system to generate an area which cannot be driven.
Pointing the bucket to one side of the cable, manually triggering the cable area to set, and selecting the extending length of the bucket according to the size of the cable reel by visual inspection; defaulting to be the position of bucket teeth, manually selecting the extended length of the bucket when the cable range exceeds the maximum range of the bucket, and solving the coordinates of an extended target point to record as cable initial coordinates 11;
as shown in fig. 6b, step b: rotating the big arm to enable the bucket to sweep through the cable 2, recording the position coordinates 12 of a target point after the bucket is extended in the movement process, and finishing the setting of a cable area 13; generating a cable area boundary according to the rotation center coordinate 10, the cable starting coordinate 11 and the collected position coordinate 12 of the target point after the bucket is extended, and uploading the cable area boundary to a map management system to generate a cable area 20 serving as a non-driving area; the electric shovel driver can edit and delete the set cable area, the cable area editing is triggered on the human-computer planning interface, and the cable area to be edited is selected for moving, extending and deleting;
as shown in fig. 6c, step c: before the electric shovel 1 starts mining operation, a loading point 41 needs to be set, and an entrance path 161 and an exit path 162 are planned by an unmanned dispatching system according to the set loading point position; in the process of shovel loading operation, the positioning acquisition module 906 acquires bucket position GPS coordinates meeting conditions, namely, the bucket GPS coordinates meeting the actual elevation range of the ground level of a loading area are converted into bucket acquisition target point coordinates, the bucket acquisition target point coordinates are stored in a target point position temporary list, whether a complete ground-attached digging or plane pulling process is met is further judged, if yes, the bucket acquisition target point coordinates are stored in a target point set and the target point position temporary list is emptied, otherwise, the target point position temporary list is directly emptied, black discrete points shown in fig. 6 a-6 h are the target point position set 3 meeting the conditions, and a dotted line in the drawing is an operation range which can be reached by 1-time shovel moving of the electric shovel, namely, a digging boundary 4; meanwhile, recording a rotation center coordinate 10 to judge whether the electric shovel 1 is propelled, and an uploading decision module 908 judges a data uploading condition, and according to the requirements of the mining and loading process, the electric shovel 1 needs to clean up materials within the operating radius range before moving the shovel, so that the acquisition of a bucket position point of a newly added area is automatically completed before moving the shovel;
when a loading point 41 of a loading vehicle 40 is set in the process of excavation operation, if the loading point and a parking space vertex 42 (any vertex of four vertices) of the loading point exceed the boundary of a map of a loading area, triggering the map to automatically upload and update, preprocessing a collected target point position point set, and then uploading the target point position point set to a map management system;
as shown in fig. 6d, step d: after the electric shovel 1 moves forwards and is pushed forwards, the bucket teeth start to carry out ground-to-ground mining operation for the first time, namely, the shovel moving work is finished, the mark position '1' is automatically uploaded, and the map processing module 910 starts to carry out boundary map preprocessing; solving the minimum surrounding boundary of the discrete points of the bucket position point set, smoothing and sampling according to 0.2 m intervals to form a new boundary, such as a dashed part in the figure, which is a new boundary 5 of a loading area;
after the electric shovel 1 moves, further calculating driving areas at the outer edges of two tracks of the mining equipment according to the movement track of the rotation center, and taking the driving areas of the tracks as the boundaries of newly added cable areas, wherein the rectangular part of a dotted line in the drawing is the boundary 6 of the newly added cable areas; the movement track 7 of the rotation center is also a cable track; adding a boundary 5, a rotation center motion track 7 and a newly added cable area boundary 6 of the preprocessed loading area to the cluster management system;
as shown in fig. 6e, step e: after the map of the newly added area boundary is preprocessed, the map updating module 912 automatically uploads newly added map data to the map management system 30, the map management system combines the newly added boundary with the primary boundary of the loading area, then the newly added map boundary 130 of the loading area is sent to the electric shovel 1 through the communication module, the newly added map boundary is updated, then the electric shovel starts a new round of mining operation, and the step a is repeated;
as shown in fig. 6f, step f: repeating the step c to the step e to realize forward propulsion of the electric shovel 1, automatically generating a cable area boundary along with each recommendation until the cable area boundary reaches a blasting pile boundary 100, wherein a dotted line part in the diagram is a newly-added excavation boundary 5 acquired by moving the shovel of the electric shovel 1 each time;
as shown in fig. 6g, step g: when the electric shovel finishes loading materials on the blasting edge, the electric shovel needs to be moved to a new operation surface, and the step is a shovel moving process; the electric shovel is usually accompanied by two drivers, one driver hooks a cable on a bucket tooth when moving the shovel, the other driver lifts the cable on a bucket to slowly move the shovel, and when the shovel is moved to a new working face position, the cable needs to be coiled well according to a certain rule by manpower; automatically generating a moving track and a newly added cable area boundary 6 in the shovel moving process;
as shown in fig. 6h, step h: after the electric shovel 1 finishes moving the shovel, the map management system finishes updating a newly added map of a loading area, a driver of the electric shovel deletes the original cable area, and then the cable area 20 is reset according to the step a and the step b; and c, the electric shovel starts a new excavation operation cycle, and the steps c to g are repeated, so that the blasting material pile is gradually reduced until the loading is finished.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses/units or modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The method for generating the loading area map of the unmanned transportation system of the surface mine is characterized by comprising the following steps:
collecting bucket positioning coordinates on excavating equipment at a set sampling frequency in a current excavating period;
determining the corresponding bucket tooth height according to each bucket positioning coordinate; determining corresponding bucket positioning coordinates of the heights of all bucket teeth in the current mining period within the actual elevation range of the ground level of the loading area, converting according to the determined bucket positioning coordinates to obtain top coordinates of the bucket teeth, and adding the top coordinates of the bucket teeth to a preset distance from a target point to the top of the bucket teeth to obtain a target point position in the current mining period; judging whether the bucket completes one complete ground-attaching mining flow or plane-pulling mining flow according to the numerical value number of the target point positions obtained in the current mining period; if yes, retaining the position of the target point obtained in the current mining period; if not, deleting the position of the target point obtained in the current mining period;
and determining the newly added map boundary according to the positions of all the target points finally obtained in each mining period.
2. The method for generating the map of the loading area of the unmanned transportation system for the surface mine according to claim 1, wherein the method further comprises the steps of acquiring coordinates of the central position of the mining equipment or coordinates of the rotation center of the mining equipment in real time, determining the moving distance of the mining equipment according to the coordinates of the central position of the mining equipment or the coordinates of the rotation center of the mining equipment, and triggering the mining equipment to determine the boundaries of the newly added map according to the positions of all target points finally obtained in each mining period if the moving distance is greater than or equal to a preset moving distance threshold value.
3. The method of claim 1, wherein determining the newly added map boundary based on the positions of all target points finally obtained in each mining cycle comprises: and solving the minimum surrounding boundary of all the target point positions by adopting a map generation algorithm, carrying out smooth processing on the boundary and sampling at equal proportional intervals to form a newly added boundary.
4. The method of claim 1, wherein the method of determining whether the bucket has completed a complete ground engaging or pull-out extraction sequence comprises:
multiplying the number of the numerical values by the sampling frequency to obtain the actual time spent by the bucket in completing one complete ground-attached excavating process or plane-pulling excavating period;
and comparing the determined actual time spent in the mining period with a preset time threshold, and if the actual time spent in the mining period is greater than or equal to the preset time threshold, determining that the bucket completes one complete ground-attaching mining flow or plane-pulling mining flow.
5. The surface mine unmanned haulage system loading area map generation method of claim 1, further comprising: setting a loading point, calculating four-vertex coordinates of a parking space boundary of the loading point, judging whether the four-vertex coordinates of the parking space of the loading point exceed a map boundary of a loading area according to the vehicle width and vehicle length of mining equipment, and triggering the mining equipment to determine a newly-added map boundary according to all target point positions finally obtained in each mining period if any one of the loading point or the four vertices exceeds the map boundary.
6. The method of claim 1, wherein determining the cable zone and the newly added cable zone if the mining equipment is towing a cable comprises:
determining a cable initial coordinate, determining the extending length of the bucket according to the size of a cable reel, and acquiring position coordinates of each extending point of the bucket in the process that the bucket sweeps through a cable area;
collecting a rotation center coordinate, and generating a cable area boundary according to a cable initial coordinate, the rotation center coordinate and the collected position coordinates of each bucket extension point; and the driving area at the outer edges of the two crawler belts of the excavating equipment is used as a newly added cable area.
7. Surface mine unmanned transportation system loading area map generation system, its characterized in that includes:
the map positioning system comprises a parameter configuration module, a positioning acquisition module and a map processing module;
the parameter configuration module is used for setting sampling frequency, the actual elevation range of the ground plane of the loading area and the distance between a target point and the top of the bucket tooth;
the positioning acquisition module is used for acquiring positioning coordinates of a bucket on the mining equipment at a set sampling frequency in the current mining period;
the map processing module is used for determining the corresponding bucket tooth height according to each bucket positioning coordinate; determining corresponding bucket positioning coordinates of the heights of all bucket teeth in the current mining period within the actual elevation range of the ground level of the loading area, converting according to the determined bucket positioning coordinates to obtain top coordinates of the bucket teeth, and adding the top coordinates of the bucket teeth to a preset distance from a target point to the top of the bucket teeth to obtain a target point position in the current mining period; judging whether the bucket completes one complete ground-attaching mining flow or plane-pulling mining flow according to the numerical value number of the target point positions obtained in the current mining period; if yes, retaining the position of the target point obtained in the current mining period; if not, deleting the position of the target point obtained in the current mining period; and determining the newly added map boundary according to the positions of all the target points finally obtained in each mining period.
8. The surface mine unmanned transport system loading area map generation system of claim 7, further comprising an upload decision module;
the positioning acquisition module is also used for acquiring the central position coordinates of the mining equipment or the rotation center coordinates of the mining equipment in real time;
and the uploading decision module is used for determining the moving distance of the mining equipment according to the central position coordinates or the rotation central coordinates of the mining equipment, and triggering the mining equipment to determine the newly added map boundary according to all target point positions finally obtained in each mining period if the moving distance is greater than or equal to a preset moving distance threshold value.
9. The surface mine unmanned haulage system loading area map generation system of claim 8, further comprising a map management system configured to receive a new map boundary uploaded by the mining device and update the loading area map based on the new map boundary.
10. The surface mine unmanned haulage system loading area map generation system of claim 7, wherein if a mining device is towing a cable, the generation system further comprises a cable designation module to determine a cable zone and a newly added cable zone, comprising:
determining a cable starting coordinate; determining the extending length of the bucket according to the size of the cable reel, and determining each position coordinate of a bucket extending point in the process that the bucket sweeps through a cable area;
the positioning acquisition module acquires a rotation center coordinate;
the cable designation module is used for generating a cable area boundary according to a cable initial coordinate, a rotation center coordinate and the collected position coordinates of each bucket extension point; and the driving area at the outer edges of the two crawler belts of the excavating equipment is used as a newly added cable area.
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