CN114383599A - Path planning system of underground scraper - Google Patents
Path planning system of underground scraper Download PDFInfo
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- CN114383599A CN114383599A CN202210050549.6A CN202210050549A CN114383599A CN 114383599 A CN114383599 A CN 114383599A CN 202210050549 A CN202210050549 A CN 202210050549A CN 114383599 A CN114383599 A CN 114383599A
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- 230000009471 action Effects 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000005065 mining Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 6
- 238000011160 research Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2045—Guiding machines along a predetermined path
Abstract
The invention discloses a path planning system of an underground scraper, which comprises: the map generation system comprises a map import module, a path planning module, a positioning point function setting module, a path function setting module and a path generation module; the map import module imports the CAD roadway map and the electronic map into a database; the path planning module is used for planning a reciprocating travel path of the forklift according to the positions of the stope and the chute; the positioning point function setting module defines the functions of the positioning points in the driving path and determines the action of the scraper; the path function setting module integrates the functions of all positioning points in the driving route to complete the definition of the driving direction and the action of the whole path; the path generation module generates a corresponding path according to the ore removal path and the ore dumping path, and the scraper automatically moves according to the generated path. The invention solves the problem that the existing scraper is difficult to move automatically underground to carry ores.
Description
Technical Field
The invention relates to the technical field of path planning, in particular to a path planning system of an underground scraper.
Background
With the gradual and comprehensive underground mining of the existing mineral resources and the development of the existing mineral resources to deep and difficult-to-mine ore bodies, the mining scale is gradually increased, the mining conditions are worse and worse, the safety threat to people is greater and greater, and the remote control mining technology comes up to the end. The underground scraper is key equipment for underground trackless mining, realizes unmanned control and autonomous running of the underground scraper in an underground roadway, can enable operators to be far away from underground severe and dangerous working environment, protects safety of scraper driver personnel, improves mining operation efficiency and reduces mining cost. The underground scraper automatically runs, and firstly, the problems of self-automatic running in a roadway, obstacle avoidance motion control and target path planning are solved.
The movement track of the underground scraper is of a tunnel type crossing type, and due to the narrow roadway, the scraper can only move forwards and backwards generally and move by turning left and right in a matched manner, so that the in-situ turning is difficult to realize. The autonomous driving research of the underground scraper is just started at home, and more researches are carried out at foreign countries. For example, the movement locus and locus control of the scraper are researched by Pedride in Australia, and an autonomous driving control model of the autonomous scraper is constructed, wherein the error of the autonomous driving control model is smaller when a path with small curvature is tracked, but the tracking error is larger when the curvature of a target path is larger, so that the control precision requirement cannot be met. The method cannot track and calculate other shape curve paths, and meanwhile, the research does not relate to the condition of articulated vehicles, so that the method cannot be applied to underground scrapers. The Beijing Ministry of mining and research invented a control method for autonomous driving of an underground scraper based on a vehicle track accurate calculation model, which can accurately calculate the deviation value between the tracking track of the scraper and a target path, and form a comprehensive deviation to control the scraper to steer and track the target path. Therefore, further research is needed to solve the stability problem of the autonomous driving controller of the underground carry scraper under the condition of larger deviation and improve the accuracy of the autonomous driving control.
In addition, in the process of ore removal of the shoveled ore loading of the shoveling and conveying machine, besides shoveling the ore in the middle of the loading pile at the center line position of the roadway, the obstacle avoidance is needed, and the mistaken collision to the roadway wall or other objects is avoided. The data volume of each path deviating from the main target path of the roadway is large and troublesome to plan; in order to reduce the development cost of the underground roadway, the shape and the size of the underground roadway generally allow a certain degree of irregularity to exist, which brings difficulty to planning of the target path of the underground roadway.
Disclosure of Invention
Therefore, the invention provides a path planning system of an underground scraper, which aims to solve the problem that the existing scraper is difficult to move automatically underground to carry ores.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention discloses a path planning system of an underground scraper, which comprises: the map generation system comprises a map import module, a path planning module, a positioning point function setting module, a path function setting module and a path generation module;
the map import module imports the CAD roadway map and the electronic map into a database;
the path planning module is used for planning a reciprocating travel path of the forklift according to the positions of the stope and the chute;
the positioning point function setting module defines the functions of the positioning points in the driving path and determines the action of the scraper;
the path function setting module integrates the functions of all positioning points in the driving route to complete the definition of the driving direction and the action of the whole path;
the path generation module generates a corresponding path according to the ore removal path and the ore dumping path, and the scraper automatically moves according to the generated path.
Furthermore, the map importing module initializes a path database, initializes a navigation path and positions and judges the initial position of the scraper before importing map data, imports a CAD roadway map and an electronic map after initialization is completed, and displays the positions of a stope and a draw shaft in the map.
Further, the path planning module preliminarily plans an optimal running path of the scraper between the stope and the drop shaft according to the selected positions of the stope and the drop shaft, and locating points are arranged at the bifurcation and the end part in the running path.
Further, the anchor point function setting module determines an anchor point, names the anchor point, and defines a function of the anchor point, and the anchor point function setting module includes: and the head direction judging unit and the running direction judging unit are used for determining the functions of the positioning points according to the direction and the running direction of the scraper head.
Further, the vehicle head direction judging unit collects the scraper image through the visual image and judges the direction of the vehicle head after the image is identified.
Further, the driving direction determination unit acquires scraper position change information through a radar sensor and determines the driving direction of the scraper.
Further, the function definition of the anchor point includes: the positioning method comprises the following steps of advancing, retreating, turning left, turning right, parking, reversing, dumping, shoveling and selecting positioning points according to actual conditions.
Further, the path function setting module determines functions of all positioning points in the driving path, adds the positioning points one by one according to the direction of the driving path, and forms a path planning scheme with a driving guidance function after the definition is completed.
Further, the path generation module generates a mine removal path and a mine dumping path, and different functions are defined by the same positioning point in the mine removal path and the mine dumping path according to different directions of a vehicle head and a driving direction.
Further, after the path generation module generates the path, the scraper car enters an automatic driving mode according to the planned path, and automatic ore shoveling and dumping are carried out along the path.
The invention has the following advantages:
the invention discloses a path planning system of an underground scraper, which generates an overall planning map by importing a CAD roadway map and an electronic map, selects a stope and a chute in the map, plans a running path of the scraper, and functionally defines a positioning point in the running path, so that the scraper can automatically perform the next action when running to the positioning point. The requirement of the scraper on underground automatic operation is met, the production efficiency is improved, and the manual operation risk is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic route planning diagram of a path planning system of a downhole scraper according to an embodiment of the present invention;
fig. 2 is a flow chart of a path planning system of a downhole scraper according to an embodiment of the present invention;
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1-2, the present embodiment discloses a path planning system of a downhole scraper, the system comprising: the map generation system comprises a map import module, a path planning module, a positioning point function setting module, a path function setting module and a path generation module;
the map import module imports the CAD roadway map and the electronic map into a database;
the path planning module is used for planning a reciprocating travel path of the forklift according to the positions of the stope and the chute;
the positioning point function setting module defines the functions of the positioning points in the driving path and determines the action of the scraper;
the path function setting module integrates the functions of all positioning points in the driving route to complete the definition of the driving direction and the action of the whole path;
the path generation module generates a corresponding path according to the ore removal path and the ore dumping path, and the scraper automatically moves according to the generated path.
And the map importing module initializes a path database, initializes a navigation path and positions and judges the initial position of the scraper before importing the map data, imports a CAD roadway map and an electronic map after the initialization is finished, and displays the positions of a stope and a chute in the map.
And both the CAD roadway map and the electronic map draw in advance or collect the whole route layout in the roadway in advance to generate the GIS electronic map. The underground mining device is provided with a plurality of mining points and winches, and the positions of each mining point and each winching need to be marked, so that a target can be conveniently selected for path planning.
And the path planning module preliminarily plans an optimal running path of the scraper between the stope and the drop shaft according to the selected positions of the stope and the drop shaft, and positioning points are arranged at the bifurcation and the end part in the running path. The locating point function setting module determines a locating point, names the locating point and defines the function of the locating point, and the locating point function setting module comprises: and the head direction judging unit and the running direction judging unit are used for determining the functions of the positioning points according to the direction and the running direction of the scraper head.
The vehicle head direction judging unit acquires the scraper image through the visual image and judges the direction of the vehicle head after identifying the image; the method comprises the steps of firstly collecting real-time images of the scraper, identifying image contents through image processing equipment, identifying a vehicle head according to structural characteristics of the vehicle head, and determining the position and the orientation of the vehicle head after identification is completed.
The direction of travel judges that the unit passes through radar sensor collection scraper position change information, confirms the direction that scraper went, and specific process is: the radar sensor detects the position of the scraper in real time, tracks the scraper in real time, detects the change of the distance between the scraper and the radar sensor, and judges the movement direction of the scraper by combining the change of the position and the distance of the scraper. In the path planning process, the scraper is provided with a mine removal path and a mine dumping path, so that different functional instructions are required when passing through some positioning points, the direction of the head of the scraper and the movement direction need to be judged, and the functions of the positioning points are matched and determined. The functional definition of anchor points includes: the positioning method comprises the following steps of advancing, retreating, turning left, turning right, parking, reversing, dumping, shoveling and selecting positioning points according to actual conditions.
Referring to fig. 1, in one embodiment, point a is the starting position of the shovel, point C is the chute for dumping, and point G is the stope for mining. In the mining path, advancing from a starting point A to a stope point G, wherein the function of the point A at the position is defined as advancing, passing the point B, the function of the point B is defined as advancing, passing the point D, the function of the point D is defined as advancing, and a scraper conveyor reaches the point F; and defining the function of the point F as left turning, operating the shovel car to the point G of the stope after left turning, and defining the function of the point G as shoveling the mine to finish the mining process.
And in the ore dumping path, the ore is dumped from the stope G point to the draw shaft C point, and the ore is returned to the initial position A point after the ore dumping is finished. The method comprises the steps of defining the function of a point G as backward movement, passing the point F, defining the function of the point F as backward movement, continuously retreating the scraper to the point H, defining the function of the point H as parking and advancing, passing the point F again, defining the function of the point F as left rotation, operating the scraper to the point D after left rotation, defining the function of the point D as forward movement, continuously advancing the scraper to the point B, defining the point B as right rotation, operating the scraper to a chute at the point C after right rotation, defining the function of the point C as ore dumping, performing ore dumping action on the scraper, after the ore dumping is completed, retreating the scraper to the point B, defining the function of the point B as right rotation, operating the scraper to the initial position of the point A, completing the ore dumping process, performing mining action again and circulating.
In the mining path and the ore dumping path, some positioning points pass through for many times, and according to the difference of the direction of the front of the scraper and the moving direction, the function definitions of the corresponding positioning points are different, so that the instruction confusion is avoided.
The path function setting module defines functions of all positioning points in the driving path, adds the positioning points one by one according to the direction of the driving path, and forms a path planning scheme with a driving guidance function after the definition is finished. The scraper can be set to the automatic driving mode to automatically operate according to the set route. The positioning precision is less than 50cm, and the whole sections A-H in the figure 1 are covered.
The path generation module generates a ore removal path and an ore dumping path, and different functions are defined by the same positioning point in the ore removal path and the ore dumping path according to the difference of the direction of the vehicle head and the driving direction; after the path generation module generates a path, the scraper car enters an automatic driving mode according to the planned path, and automatic ore shoveling and dumping are carried out along the path. In the actual operation process, the function keys on different control handles are respectively set as a mine removal path trigger switch and a mine dumping path trigger switch, before automatic driving is started, the path for automatically shoveling mines or the path for automatically dumping mines is manually selected, and if the selected path is not matched with the set direction of the locomotive, the vehicle is alarmed to stop.
The route planning system for the underground scraper disclosed by the embodiment generates an overall planning map by importing a CAD roadway map and an electronic map, selects a stope and a chute from the map, plans a running route of the scraper, and defines a function of a positioning point in the running route, so that the scraper can automatically perform the next action when running to the positioning point. The requirement of the scraper on underground automatic operation is met, the production efficiency is improved, and the manual operation risk is reduced.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A path planning system for a downhole scraper, the system comprising: the map generation system comprises a map import module, a path planning module, a positioning point function setting module, a path function setting module and a path generation module;
the map import module imports the CAD roadway map and the electronic map into a database;
the path planning module is used for planning a reciprocating travel path of the forklift according to the positions of the stope and the chute;
the positioning point function setting module defines the functions of the positioning points in the driving path and determines the action of the scraper;
the path function setting module integrates the functions of all positioning points in the driving route to complete the definition of the driving direction and the action of the whole path;
the path generation module generates a corresponding path according to the ore removal path and the ore dumping path, and the scraper automatically moves according to the generated path.
2. The system according to claim 1, wherein the map importing module performs path database initialization, navigation path initialization, and scraper start position positioning determination before importing the map data, and imports a CAD roadway map and an electronic map after completing the initialization, and displays the positions of the stope and the chute in the map.
3. The path planning system of claim 1, wherein the path planning module initially plans an optimal path for the scraper between the stope and the draw shaft according to the selected positions of the stope and the draw shaft, and positioning points are arranged at the fork and the end of the path.
4. The path planning system for a downhole scraper of claim 1 in which the setpoint function setting module determines a setpoint function, the setpoint function setting module comprising: and the head direction judging unit and the running direction judging unit are used for determining the functions of the positioning points according to the direction and the running direction of the scraper head.
5. The path planning system of claim 4, wherein the nose direction determination unit acquires the scraper image through a visual image, and determines the direction of the nose after the image is recognized.
6. The path planning system of a downhole scraper of claim 4, wherein the travel direction determining unit acquires scraper position change information by a radar sensor to determine the travel direction of the scraper.
7. The path planning system for a downhole scraper of claim 1 in which the functional definition of the setpoint comprises: the positioning method comprises the following steps of advancing, retreating, turning left, turning right, parking, reversing, dumping, shoveling and selecting positioning points according to actual conditions.
8. The path planning system of claim 1, wherein the path function setting module determines functions of all positioning points in the travel path, adds the positioning points one by one according to the direction of the travel path, and forms a path planning scheme with a travel guidance function after the definition is completed.
9. The path planning system of claim 1, wherein the path generating module generates a mine removal path and a mine dumping path, and a same positioning point in the mine removal path and the mine dumping path defines different functions according to different directions of a vehicle head and a driving direction.
10. The path planning system of claim 1, wherein after the path generation module generates the path, the scraper enters an automatic driving mode according to the planned path, and automatically shovels and dumps the mine along the path.
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| CN202210050549.6A CN114383599A (en) | 2022-01-17 | 2022-01-17 | Path planning system of underground scraper |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104969249A (en) * | 2013-08-30 | 2015-10-07 | 株式会社小松制作所 | Management system and management method for mining machinery |
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| US20170017239A1 (en) * | 2014-09-29 | 2017-01-19 | Hitachi Construction Machinery Co., Ltd. | Management control device |
| CN110428161A (en) * | 2019-07-25 | 2019-11-08 | 北京航空航天大学 | A kind of unmanned mine car cloud intelligent dispatching method based on end edge cloud framework |
| CN113687647A (en) * | 2020-05-15 | 2021-11-23 | 长沙智能驾驶研究院有限公司 | Mine car transport driving control method and device, mine car and storage medium |
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- 2022-01-17 CN CN202210050549.6A patent/CN114383599A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104969249A (en) * | 2013-08-30 | 2015-10-07 | 株式会社小松制作所 | Management system and management method for mining machinery |
| CN105460013A (en) * | 2014-09-29 | 2016-04-06 | 日立建机株式会社 | Traveling stop control device for transport vehicle and transport vehicle with the same |
| US20170017239A1 (en) * | 2014-09-29 | 2017-01-19 | Hitachi Construction Machinery Co., Ltd. | Management control device |
| CN110428161A (en) * | 2019-07-25 | 2019-11-08 | 北京航空航天大学 | A kind of unmanned mine car cloud intelligent dispatching method based on end edge cloud framework |
| CN113687647A (en) * | 2020-05-15 | 2021-11-23 | 长沙智能驾驶研究院有限公司 | Mine car transport driving control method and device, mine car and storage medium |
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