CN114482183A - Control method of excavating machinery and excavating machinery - Google Patents
Control method of excavating machinery and excavating machinery Download PDFInfo
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- CN114482183A CN114482183A CN202210164950.2A CN202210164950A CN114482183A CN 114482183 A CN114482183 A CN 114482183A CN 202210164950 A CN202210164950 A CN 202210164950A CN 114482183 A CN114482183 A CN 114482183A
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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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
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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
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
Abstract
The disclosure provides a control method of an excavating machine and the excavating machine, and relates to the technical field of automatic control, in particular to the field of automatic control of engineering machinery. The specific implementation scheme is as follows: determining the position of an initial excavation point and the current position of an excavation machine; determining a straight line path formed by the initial digging point position and the current position; acquiring peripheral environment information of the excavating machinery, wherein the peripheral environment information comprises barrier positions in a sensing range of the excavating machinery; the obstacle position comprises at least one of a static obstacle position and a dynamic obstacle position; taking the lateral safe distance position of the obstacle position as a track relay position under the condition that the straight path conflicts with the obstacle position; and determining the planned track of the mining machine by using the initial mining point position, the current position and the track relay position. By adopting the method and the device, the automatic control of the excavating machinery can be realized.
Description
Technical Field
The disclosure relates to the technical field of automation control, in particular to the field of automation control of engineering machinery.
Background
Excavating machines (e.g., shovels) are a basic piece of equipment in open-pit mines primarily used to strip minerals overlying the deposit and load the stripped minerals into mine blocks. In the open-pit mining area, large-scale production operation is generally performed mainly by excavating machinery and transporting mine cards, and along with continuous development and breakthrough of high and new technologies such as big data, sensors, 5th Generation Mobile Communication Technology (5G), artificial intelligence and the like, the unmanned Technology is mature day by day, and the technical maturity of automatic electric shovels and automatic mine cards is higher and higher. However, at present, the control of the excavating machine (such as an electric shovel) is mainly carried out by remote control by manpower, and a mature automatic control method for the excavating machine does not exist.
Disclosure of Invention
The disclosure provides a control method of an excavating machine and the excavating machine.
According to an aspect of the present disclosure, there is provided a control method of an excavating machine, including:
determining the position of an initial excavation point and the current position of an excavation machine;
determining a straight line path formed by the initial digging point position and the current position;
acquiring peripheral environment information of the excavating machinery, wherein the peripheral environment information comprises barrier positions in a sensing range of the excavating machinery; the obstacle position comprises at least one of a static obstacle position and a dynamic obstacle position;
taking the lateral safe distance position of the obstacle position as a track relay position under the condition that the straight path conflicts with the obstacle position;
and determining the planned track of the mining machine by using the initial mining point position, the current position and the track relay position.
According to another aspect of the present disclosure, there is provided an excavating machine comprising:
the communication module is used for receiving the position of the initial digging point;
the sensing module is used for sensing the current position of the mining machine and the peripheral environment information, and the peripheral environment information comprises the position of an obstacle in the sensing range of the mining machine; the obstacle position comprises at least one of a static obstacle position and a dynamic obstacle position;
the planning module is used for determining a straight line path formed by the initial excavation point position and the current position, and taking the lateral safe distance position of the obstacle position as a track relay position under the condition that the straight line path conflicts with the obstacle position; and determining the planned track of the mining machine by using the initial mining point position, the current position and the track relay position.
According to another aspect of the present disclosure, there is provided an unmanned work system for a strip mine, comprising:
an excavating machine according to any of the preceding aspects;
an unmanned mine card; and the number of the first and second groups,
a collaborative work platform for coordinating excavation machinery and unmanned mine trucks.
According to another aspect of the present disclosure, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the above.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform a method according to any of the above.
According to another aspect of the disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements a method according to any of the above.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic illustration of an excavation machine and mine card set correspondence according to the present disclosure;
FIG. 2 is a schematic flow chart illustrating an implementation of a method for controlling a mining machine according to an embodiment of the present disclosure;
FIGS. 3A and 3B are schematic diagrams of a planned trajectory determined according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a three-party collaboration system architecture, according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a collaboration flow of a three-party collaboration system, according to an embodiment of the present disclosure;
FIG. 6 is a schematic illustration of a construction of a mining machine according to an embodiment of the present disclosure;
FIG. 7 is a schematic illustration of a construction of a mining machine according to another embodiment of the present disclosure;
FIG. 8 is a block diagram of an electronic device for implementing a method of controlling a mining machine according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
With the development of economic society, open-pit mining areas generally face the problems of boring and boring work content, severe and dangerous work environment, high labor recruitment difficulty, high labor cost, high safety accident pressure, reduction of work efficiency and work safety risk of workers along with work time and the like. Based on the method, the great development of the automatic operation technology of the open-pit mine area has important practical significance. In strip mine areas, large-scale production operations are generally carried out mainly by excavating machines (such as electric shovels) and transporting mine blocks. As shown in fig. 1, generally, one excavating machine corresponds to one ore card set including a plurality of ore cards, and the excavating machine works in cooperation with the corresponding ore card set. The mining machine is used for mining minerals, the mined minerals are loaded to the mine truck, and the mine truck is used for completing the transportation of the minerals. For the excavating machinery, a remote control mode is mainly adopted to control the excavating machinery at present, and no unmanned control in a complete true sense exists.
The embodiment of the present disclosure provides a control method for an excavating machine, and fig. 2 is a schematic implementation flow diagram of the control method for the excavating machine according to an embodiment of the present disclosure, including:
s210: determining the position of an initial excavation point and the current position of an excavation machine;
s220: determining a straight line path formed by the initial digging point position and the current position;
s230: acquiring peripheral environment information of the excavating machine, wherein the peripheral environment information comprises the position of an obstacle in a sensing range of the excavating machine; the obstacle position comprises at least one of a static obstacle position and a dynamic obstacle position;
s240: taking the lateral safe distance position of the obstacle position as a track relay position under the condition that the straight path conflicts with the obstacle position;
s250: and determining a planned track of the mining machine by using the initial mining point position, the current position and the track relay position.
In some embodiments, the control method of the excavating machine provided by the present disclosure determines a current position of the excavating machine after determining an initial excavating point position of the excavating machine, determines a planned trajectory according to the current position and the initial excavating point position, and controls the excavating machine to move according to the planned trajectory; and in the moving process, repeatedly determining the current position of the excavating machine in real time, re-determining the planned track, and controlling the excavating machine to move according to the new planned track. For example, the planned trajectory may be repeatedly determined periodically, or may be repeatedly determined in the case where an external instruction is received, an obstacle is sensed, or the like.
The control method provided by the embodiment of the disclosure fully considers the characteristics of the strip mine area, for example, no fixed road exists in the strip mine area, the excavating machinery (such as an electric shovel) or a mine block can freely run, and compared with the common environment, the obstacles in the strip mine area are fewer. According to the characteristics, the control method provided by the embodiment of the disclosure considers the current position, the initial excavation point position and the obstacle position when planning the travel track, determines the planning track according to the information, and can realize automatic control of the excavating machine by adopting the planning track. In some embodiments, if multiple planned paths are determined in consideration of the current position, the initial excavation point position, and the obstacle position, the planned path with the shortest path may be selected according to the closest distance principle.
Fig. 3A and 3B are schematic diagrams of a planned trajectory determined according to an embodiment of the present disclosure. As shown in fig. 3A, a straight path is determined based on the current position of the excavating machine and the initial excavating point position, and an obstacle position exists on the straight path, i.e., the straight path collides with the obstacle position, in which case a lateral safe distance position of the obstacle position is selected, which is in a vertical direction of the straight path and maintains a safe distance with the obstacle position. And then, taking the lateral safe distance position as a track relay position, and determining a planned track by using the current position of the excavating machine, the initial excavating point position and the track relay position. For example, in fig. 3A, a broken line connecting the current position of the mining machine, the initial mining point position, and the trajectory relay position is an intermediate trajectory generated when the planned trajectory is determined, and a curve connecting the current position of the mining machine, the initial mining point position, and the trajectory relay position is a finally determined planned trajectory. As shown in fig. 3B, a straight path is determined based on the current position of the excavating machine and the initial excavating point position, and two obstacle positions exist on the straight path, that is, the straight path collides with the two obstacle positions, and in this case, a lateral safe distance position (a plurality of lateral safe distance positions exist as shown in fig. 3B) is selected for each obstacle position, the lateral safe distance position being in a vertical direction of the straight path and maintaining a safe distance from the obstacle position. And then, each lateral safe distance position is used as a track relay position, and a planning track is determined by using the current position of the excavating machine, the initial excavating point position and each track relay position. For example, in fig. 3B, two broken lines connecting the current position of the mining machine, the initial mining point position, and the trajectory relay position are intermediate trajectories generated when the planned trajectory is determined, and two curves connecting the current position of the mining machine, the initial mining point position, and the trajectory relay position are finally determined planned trajectories. Due to the existence of the plurality of planned tracks, the embodiment of the disclosure can select the planned path with the shortest distance as the finally selected planned path, and control the movement of the excavating machine by using the planned path.
In some embodiments, a mining machine may include a sensing module, a planning module, a control module, and a communication module. The sensing module can model a working area, estimate the pose of a mine card (such as an unmanned mine card), identify the full load rate of the mine card and the like; the planning module can plan excavation operation and movement; the control module can solve the planning result and send a control instruction to the electric shovel controller; the communication module can communicate with the cooperative work platform and receive and transmit current work instructions, state information, work data and the like. The control method of the excavating machine provided by the embodiment of the present disclosure can be cooperatively completed by the aforementioned modules in the excavating machine, for example:
a communication module of the excavating machinery receives the position of an initial excavating point;
sensing the current position of the excavating machine and peripheral environment information by a sensing module of the excavating machine, wherein the peripheral environment information comprises the position of an obstacle in the sensing range of the excavating machine; the obstacle position comprises at least one of a static obstacle position and a dynamic obstacle position;
a planning module of the excavating machinery determines a straight line path formed by the initial excavating point position and the current position, and takes a lateral safe distance position of the obstacle position as a track relay position under the condition that the straight line path conflicts with the obstacle position; and determining the planned track of the mining machine by using the initial mining point position, the current position and the track relay position.
Further, the control module of the mining machine may use the planned path to control movement of the mining machine.
In some embodiments, the control method for the mining machine provided by the present disclosure may further satisfy the kinematics or obstacle avoidance requirements of the mining machine when determining the planned trajectory and/or determining the control instruction for the mining machine using the planned trajectory. For example, in some embodiments, the control method provided in the embodiments of the present disclosure further includes:
determining a control instruction for the excavating machinery by using the planned track, the current position and the motion data of the excavating machinery;
wherein the current position and motion data of the mining machine includes at least one of a current position, a current direction, left and right track speeds, a track pitch, and a target speed of the mining machine.
The process of determining the control command considers the current position, the current direction, the left and right crawler speeds, the crawler pitch and the target speed of the excavating machine, so that the control on the excavating machine is ensured to meet the requirements of the kinematics of the excavating machine.
In some embodiments, the control command includes at least one of a speed direction and a target turning angle of the excavating machine;
the speed direction of the excavating machine can be determined by utilizing the left and right crawler speeds of the excavating machine, the crawler pitch and the preset updating step length time;
the angle deviation can be determined by using the direction of the planned track and the current direction of the excavating machine; distance deviation can be determined by using the position of the planned track and the current position of the excavating machine; the target turning angle of the excavating machine can be determined by using the angle deviation, the distance deviation, and a preset angle deviation coefficient and distance deviation coefficient. In some embodiments, the target turning angle may refer to a turning angle of the excavation machine desired in order to approximate the excavation machine to the planned trajectory.
The magnitude of the speed of the excavating machine, the speed direction of the excavating machine and the target turning angle satisfy the kinematics of the excavating machine.
In some possible embodiments, the speed of the excavation machine may be selected to be no greater than the target speed (e.g., denoted v)max) And not less than 0.
The speed direction of the excavating machine satisfies formula (1):
Δθ＝(v1-v2)*2/L*Δt…(1)；
where Δ θ represents a speed direction of the excavating machine;
v1、v2respectively representing the left and right track speeds;
l represents track pitch;
Δ t denotes an update step time.
The speed direction of the excavating machine is determined according to the mechanical structure of the excavating machine, and the excavating machine is provided with a left crawler belt and a right crawler belt, so that the direction of the excavating machine is directly different due to the difference of the speeds of the left crawler belt and the right crawler belt. Therefore, the excavating machine control method provided by the present disclosure can easily and accurately determine the speed direction of the excavating machine.
The target turning angle satisfies formula (2):
θ＝slaneDir*θlanedir-slanePos*Dlane…(2)；
wherein s islaneDirIs an angle deviation coefficient;
θlanediran angular deviation determined for the direction of the planned trajectory and the current direction of the mining machine;
slanePosis a distance deviation coefficient;
Dlaneto use the distance deviation determined by the position of the planned trajectory from the current position of the mining machine.
The modes of determining the speed of the excavating machine, the speed direction of the excavating machine and the target turning angle all meet the kinematics of the excavating machine, and can be represented by rhotireAnd (4) showing. Therefore, the target rotation angle is determined by adopting the distance deviation coefficient and the angle deviation coefficient, and the size of the target rotation angle can be adjusted by adjusting the numerical values of the distance deviation coefficient and the angle deviation coefficient; if the target turning angle is larger, the excavating machinery can be controlled to approach the planned track more quickly; if the target turning angle is smaller, the excavating machine can be controlled to approach the planned track more slowly, so that the operation mode of the excavating machine can be adjusted conveniently.
In some embodiments, when the planned track is adopted to control the movement of the excavating machine, the collision can be satisfiedProbability (e.g. using p)obsAnd the method specifically adopts the principle of giving way for dynamic obstacles during the moving process of the excavating machine and adopts the principle of obstacle detouring path planning for static obstacles, for example. For example, the control method of the excavating machine proposed by the present disclosure may further include:
controlling the excavating machinery to move to the position of the initial excavating point according to the planned track of the excavating machinery;
in the moving process of the excavating machinery, acquiring peripheral environment information of the excavating machinery in real time, wherein the peripheral environment information comprises the position of an obstacle in a sensing range of the excavating machinery;
determining a collision distance of the excavating machine under the condition that a dynamic obstacle exists in front of the running of the excavating machine, and determining a first distance between the current position of the excavating machine and the obstacle position of the dynamic obstacle;
and adjusting the acceleration of the crawler of the excavating machine according to the collision distance and the first distance.
Specifically, the collision distance of the excavating machine satisfies formula (3):
Dc＝dc+vt 2/2.0/adcc…(3)；
wherein D iscA collision distance for the excavating machine;
dcis the minimum safe distance;
vtis the current speed of the excavating machine;
adccthe braking acceleration of the excavating machine.
The first distance between the current position of the excavating machine and the obstacle position of the dynamic obstacle is greater than the collision distance DcIn the case of (2): if v ismax>vtSetting the current track acceleration a of the excavating machine as aacc(aaccAcceleration), otherwise, the current track acceleration a of the excavating machine is set to 0. Wherein v ismaxIs the target speed.
The first distance between the current position of the excavating machine and the obstacle position of the dynamic obstacle is smaller than the collision distanceFrom DcIn the case of (2): if v ist>0, the current track acceleration a of the excavating machine is set to adccOtherwise, the current track acceleration a of the excavating machine is set to be 0.
As can be seen from the above, when the planned trajectory is used to control the movement of the excavating machine, if a dynamic obstacle is sensed before the movement, the distance between the excavating machine and the dynamic obstacle is determined, and if the distance is greater than a collision distance (the collision distance can be understood as the distance traveled by the excavating machine from the start of braking to the stop of advancing), the excavating machine can continue to move forward; in this case, if the operating speed of the excavating machine is lower than the target speed, the excavating machine may be controlled to accelerate to approach the target speed; if the operating speed of the mining machine has reached the target speed, the speed may be maintained to continue forward. If the distance is less than the collision distance, the excavating machine needs to be decelerated; in this case, if the operating speed of the excavating machine is greater than 0 (i.e., is still in operation), the excavating machine may be subjected to deceleration control in accordance with the braking acceleration of the excavating machine; if the operating speed of the mining machine is equal to 0 (i.e., operation has ceased), the current track acceleration of the mining machine may no longer be changed. Therefore, the control mode is suitable for the characteristic that vehicles in the open-pit mine area are few, and is a simple, convenient and effective control mode for the excavating machinery.
The control mode of controlling the excavating machine to adopt the principle of giving way to the dynamic barrier is introduced. If the excavating machine senses that a static obstacle exists in front of the operation in the moving process, the planning track can be determined again by adopting the principle of obstacle-bypassing track planning. For example, the control method proposed by the present disclosure may further include:
taking a lateral safe distance position of an obstacle position of the static obstacle as a track relay position under the condition that the static obstacle exists in front of the running of the excavating machine;
and re-determining the planned track of the mining machine by using the initial mining point position, the current position of the mining machine and the track relay position.
By the mode, the front obstacle can be sensed in real time in the running process of the excavating machine, and if the static obstacle existing in the front of the running process is sensed, a new path can be planned again, so that the flexible control and adjustment of the excavating machine are realized.
In the control method of the excavating machinery provided by the disclosure, the excavating machinery can receive a cooperative operation instruction from a cooperative operation platform, read the cooperative operation instruction, and acquire the position of the initial excavating point from the cooperative operation instruction; wherein the initial digging point location may include at least one of a longitude of the initial digging point, a latitude of the initial digging point, and an elevation of the initial digging point.
The embodiment of the disclosure can be applied to a three-party cooperation system formed by excavating machinery (such as an unmanned electric shovel), a cooperation platform (such as cloud-end equipment) and an unmanned mine card. By receiving and reading the instruction from the cooperative work platform, the control of the cooperative work platform on the engineering work of the excavating machinery can be realized in a mode of acquiring the position of the initial excavating point. Fig. 4 is a schematic structural diagram of a three-party collaboration system according to an embodiment of the disclosure, and as shown in fig. 4, the system includes a digging machine, a collaborative work platform, and an unmanned mine card, where the number of the digging machine and the unmanned mine card may be multiple. Each mining machine may correspond to a mine card collection, which may include a plurality of unmanned mine cards; the cooperative operation platform is responsible for the unmanned operation planning of the cooperative excavation machinery and the unmanned mine card, and the excavation machinery can be coordinated with one mine card set to complete a mineral excavation task.
The three-party cooperative system described above and the control method of the excavating machine therein will be described in detail below.
FIG. 5 is a collaboration flow diagram of a three-party collaboration system, according to an embodiment of the disclosure. As shown in the drawings and the following, the excavating machine is specifically an unmanned electric shovel (called an electric shovel for short), an unmanned mine card is called a mine card for short, and the cooperative work platform is called a platform for short. As shown in fig. 5, the workflow includes the following steps:
1) and establishing communication connection in the three-party cooperation system, such as establishing communication connection between the electric shovel and the platform and establishing communication connection between the mine card and the platform.
2) The sensing module of the electric shovel senses the pose of the electric shovel and sends the pose and the running state of the electric shovel to the platform; and meanwhile, the mine card senses the pose of the mine card and sends the pose and the running state of the mine card to the platform.
The unmanned mine card can realize automatic driving, automatically adjust the posture, communicate with the cooperative operation platform, receive and transmit current operation instructions, state information, operation data and the like.
3) The cooperative operation platform (hereinafter referred to as a platform) is responsible for unmanned operation planning of the electric shovel and the mine card, setting an overall operation target in a man-machine interaction mode, grouping the electric shovel and the specified mine card for scheduling operation, determining an initial operation position and an operation amount under a cooperative condition, sending a cooperative operation instruction to the electric shovel and the mine card to serve as a communication center of the electric shovel and the mine card, assisting the electric shovel and the mine card to perform data interaction, monitoring the operation state of the electric shovel and the mine card, monitoring the operation efficiency and the operation safety of the electric shovel and the mine card and the like.
Setting operation target, designating unmanned electric shovel and unmanned mine card, setting initial digging point, such as Ptar(Lattar,Lontar，htar) Is represented by the formula, wherein PtarDenotes the initial digging point, LattarIndicating the latitude, Lon, of the initial dig pointtarLongitude, h, representing the initial digging pointtarIndicating the elevation of the initial dig point. The cooperative work platform also sets the work amount TtarE.g. using TtarRepresenting the total operating shovel number or total operating time or total mineral weight, which may be in units of shovel number. After the setting is finished, the cooperative operation platform sends an unmanned cooperative operation starting instruction and/or task data to the electric shovel and the corresponding mine card.
4) The electric shovel determines an initial excavation point after receiving the cooperative operation instruction, acquires surrounding environment information, mainly the position of an obstacle, plans a driving track from the current position of the electric shovel to the position of the initial excavation point, meets the kinematics of the electric shovel, avoids the obstacle and the nearest distance, drives to the initial excavation point, and sends the states of advancing and entering an excavation area to the platform. The manner in which the electric shovel determines the planned trajectory and controls using the determined planned trajectory has been described in detail above, and will not be described herein again.
5) And after receiving the cooperative operation instruction, the mine cards participating in the current operation enter a waiting command area according to the initial excavation point and the preset relative position, and send the waiting opposite shovel state and the current mine card position to the platform.
6) And the platform sends the electric shovel after receiving the shovel state of the mine card and the pose of the current mine card. Sensing surrounding environment information of the initial excavation point position under the condition that the unmanned electric shovel moves to the initial excavation point position, and establishing an elevation map by using the surrounding environment information;
determining a mine card loading area on an elevation map;
determining the position of a counter shovel according to the mine card loading area;
and sending the information of the position of the opposite shovel and the state of waiting for the opposite shovel to the cooperative operation platform for the cooperative operation platform to forward to the mine card cooperatively operated with the unmanned electric shovel.
For example, after the electric shovel enters an initial excavation area, the sensing module acquires information of surrounding environment, an elevation map is established for a terrain, a position suitable for loading in elevation is found to serve as a mine card loading area, and the area height is not higher than a current threshold of the electric shovel, if the formula (4) is met:
Pload(Lonlaod,Latload，headload)＝Phload+Psideload；…(4)；
wherein, LonloadRepresenting the mine card center to shovel longitude;
latloadrepresenting the shovel latitude of the center of the mine card;
headloadthe center of the mine truck is shown facing the direction of the shovel;
Phloadrepresenting a maximum elevation of loading;
Psideloadshowing the side of the electric shovel close to the current position of the mine card;
and then, the unmanned electric shovel sends the information of the state of waiting for the shovel to the platform and the position of the shovel to the platform through the communication module. By the mode, the integrated control of the collaborative operation platform on the engineering operation set formed by the unmanned electric shovel and the unmanned mine card can be realized.
7) The platform sends the shovel location received from the unmanned electric shovel to the mine card.
8) And the mine card drives into the loading area to the position of the opposite shovel, adjusts the posture, and sends a waiting loading state and the current posture to the platform after the opposite shovel is finished.
9) And the platform sends the electric shovel after receiving the waiting state and the final position of the mine card, for example, the loading position and the position of the mine card are carried in the digging and loading instruction, and the digging and loading instruction is sent to the electric shovel.
10) The electric shovel receives waiting state and pose information of the mine card from the cooperative operation platform;
carrying out three-dimensional modeling on the mine card loading area, and determining a bucket tail end travel track point of the unmanned electric shovel by using a three-dimensional model obtained by the three-dimensional modeling and pose information of the mine card; the bucket tail end travel track point comprises a bucket tail end travel track point of the unmanned electric shovel in the excavation process and/or a bucket tail end travel track point of the unmanned electric shovel in the loading process. Through the process, the control of the bucket of the unmanned electric shovel excavation process is realized.
For example, the electric shovel carries out three-dimensional modeling on an excavation region through a sensing module, and carries out accurate estimation on the pose of a truck. And establishing grid mapping (gridmap), and generating a bucket tail end travel track point in the excavating process and a bucket tail end travel track point in the loading process by using a track optimization technology. The tail end travel track point of the bucket meets the Trajdigdump＝Trajsrc+Trajsmooth+Trajcrash(ii) a Wherein, TrajdigdumpRepresents the bucket end travel trajectory, TrajsrcRepresenting a conventional motion trajectory function according to machine learning, TrajsmoothRepresents the trajectory smoothing function, TrajcrashRepresenting the collision function. And a control module of the electric shovel drives the electric shovel to carry out digging and loading operation according to the track point of the tail end stroke of the bucket. And the electric shovel sends a digging and loading state signal to the platform.
11) The control method for the unmanned electric shovel may further include: controlling the unmanned electric shovel to dig by utilizing a track point of the tail end stroke of a bucket of the unmanned electric shovel, and loading the dug minerals to a mine card;
sensing whether the mine card is full or not in the excavation process;
and under the condition that the mine card is sensed to be full, sending full state information and/or the loading quantity to the cooperative operation platform.
For example, the electric shovel sensing module carries out full load estimation on minerals in a truck, judges whether a current mine card is full or not, stops digging after the mine card is full, waits for a new shovel-pairing completion signal, and sends the number of the shovel loaded at this time and a full-load state signal to the platform. The unmanned electric shovel automatically senses the full-load condition of the mine card and reports the sensed full-load condition to the cooperative operation platform, so that the cooperative operation platform can be assisted to complete the overall control of an operation system consisting of the electric shovel and the corresponding mine card.
12) And after receiving the full signal, the platform sends a transportation instruction to the mine card.
13) The mine card is moved out of the device area after receiving the transportation instruction so as to send the minerals out of the loading area.
14) And the platform judges whether the current excavation task is finished, if not, the electric shovel searches for a new proper excavation point based on a 3D mapping result of the sensing module, gives a new opposite shovel position and sends the platform. And then returning to execute the step 7), namely, the platform sends the shovel aligning position and the shovel aligning instruction to the mine card waiting to enter the loading area, and circularly performing the production operation of the conventional mine area. If any task is completed, the workload T is reachedtarAnd if so, the platform sends a cooperative operation stopping instruction to the electric shovel and the mine card, and the electric shovel and the mine card reset.
As can be seen from the above embodiments, the control method of the excavating machine provided by the embodiment of the present disclosure may be applied to a three-party collaboration system in an open-pit mine, where the three-party collaboration system includes the excavating machine, a collaborative work platform, and an unmanned mine card. The mining machine receives the instruction and the related data from the cooperative work platform, and the related data is utilized to perform related operations such as automatic trajectory planning, automatic control of the mining machine, automatic mining and/or full load estimation of the mine card of the mining machine.
The embodiment of the present disclosure provides an excavating machine, and fig. 6 is a schematic structural diagram of an excavating machine according to an embodiment of the present disclosure, including:
a communication module 610 for receiving an initial digging point location;
the sensing module 620 is used for sensing the current position of the mining machine and the surrounding environment information, wherein the surrounding environment information comprises the position of an obstacle in the sensing range of the mining machine; the obstacle position comprises at least one of a static obstacle position and a dynamic obstacle position;
the planning module 630 is configured to determine a straight path formed by the initial excavation point position and the current position, and take a lateral safe distance position of the obstacle position as a trajectory relay position when the straight path collides with the obstacle position; and determining the planned track of the mining machine by using the initial mining point position, the current position and the track relay position.
In some embodiments, where the excavating machine includes features of any of the above aspects, fig. 7 is a schematic structural view of an excavating machine according to another embodiment of the present disclosure, further including:
the control module 710 is configured to determine a control command for the mining machine by using the planned trajectory, the current position of the mining machine, and the motion data;
wherein the current position and motion data of the mining machine includes at least one of a current position, a current direction, left and right track speeds, a track pitch, and a target speed of the mining machine.
In some embodiments, the control commands for the mining machine include at least one of a speed direction and a target steering angle of the mining machine;
the control module 710 is configured to perform at least one of:
determining the speed direction of the excavating machinery by utilizing the speed of the left and right crawler belts of the excavating machinery, the distance between the crawler belts and preset updating step length time;
determining an angle deviation by using the direction of the planned track and the current direction of the excavating machine; determining distance deviation by using the position of the planned track and the current position of the excavating machine; and determining the target turning angle of the excavating machine by utilizing the angle deviation, the distance deviation and a preset angle deviation coefficient and distance deviation coefficient.
In some embodiments, the control module 710 is further configured to control the excavation machine to move to the initial excavation point position according to the planned trajectory of the excavation machine;
the sensing module 620 is further configured to obtain surrounding environment information of the mining machine in real time during the movement process of the mining machine, where the surrounding environment information includes the position of the obstacle within the sensing range of the mining machine;
the control module 710 is further configured to determine a collision distance of the mining machine in a case where a dynamic obstacle exists in front of the travel of the mining machine, and determine a first distance between a current position of the mining machine and an obstacle position of the dynamic obstacle; and adjusting the acceleration of the crawler of the excavating machine according to the collision distance and the first distance.
In some embodiments, the planning module 630 is further configured to take a lateral safe distance position of the obstacle position of the static obstacle as the trajectory relay position in case the static obstacle is present in front of the travel of the mining machine;
and re-determining the planned track of the mining machine by using the initial mining point position, the current position of the mining machine and the track relay position.
In some embodiments, a communication module 610 for receiving a collaborative work instruction from a collaborative work platform; reading a cooperative operation instruction, and acquiring an initial digging point position from the cooperative operation instruction; wherein the initial digging point location includes at least one of a longitude of the initial digging point, a latitude of the initial digging point, and an elevation of the initial digging point.
In some embodiments, the sensing module 620 is further configured to sense ambient environment information of the initial excavation point position when the excavation machine moves to the initial excavation point position, and establish an elevation map using the ambient environment information;
the planning module 630 is further configured to determine a mine card loading area on the elevation map; determining the position of a counter shovel according to the mine card loading area;
the communication module 610 is further configured to send information about the position of the shovel and the state of the shovel waiting to be shoveled to the cooperative operation platform, so that the cooperative operation platform forwards the information to the mine card cooperatively operating with the mining machine.
In some embodiments, the communication module 610 is further configured to receive waiting status and pose information of the mine card from the collaborative work platform;
the planning module 630 is further configured to perform three-dimensional modeling on the mine card loading area, and determine a bucket end travel track point of the excavating machine by using a three-dimensional model obtained through the three-dimensional modeling and pose information of the mine card; the bucket end travel track point comprises a bucket end travel track point of the excavating machine during excavating and/or a bucket end travel track point of the excavating machine during loading.
In some embodiments, the control module 710 is further configured to control the excavation machine to excavate using a bucket end travel trajectory point of the excavation machine and load the excavated minerals to the mine card;
the sensing module 620 is further configured to sense whether the mine card is full during the excavation process;
the communication module 610 is further configured to send the full status information and/or the loading amount to the cooperative work platform when the mine card is sensed to be full.
The embodiment of the present disclosure also discloses an unmanned operation system of strip mine, including:
the excavating machine shown in fig. 6 or 7;
an unmanned mine card; and the number of the first and second groups,
a collaborative work platform for coordinating the excavation machine and the unmanned mine card.
In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 8 illustrates a schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 8, the apparatus 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The calculation unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
A number of components in the device 800 are connected to the I/O interface 805, including: an input unit 806 such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (22)
1. A method of controlling an excavating machine comprising:
determining the position of an initial excavation point and the current position of an excavation machine;
determining a straight line path formed by the initial digging point position and the current position;
acquiring peripheral environment information of the excavating machinery, wherein the peripheral environment information comprises the position of an obstacle in a sensing range of the excavating machinery; the obstacle position comprises at least one of a static obstacle position and a dynamic obstacle position;
taking a lateral safe distance position of the obstacle position as a track relay position under the condition that the straight path conflicts with the obstacle position;
and determining the planned track of the mining machine by using the initial mining point position, the current position and the track relay position.
2. The method of claim 1, further comprising:
determining a control instruction for the mining machine by using the planned trajectory, the current position of the mining machine and the motion data;
wherein the current position and motion data of the mining machine includes at least one of a current position, a current direction, left and right track speeds, a track pitch, and a target speed of the mining machine.
3. The method of claim 2, wherein the control commands for the mining machine include at least one of a speed direction and a target turning angle of the mining machine;
determining, using the planned trajectory, the current position of the mining machine, and the motion data, a control command for the mining machine including at least one of:
determining the speed direction of the excavating machine by utilizing the left and right crawler speeds of the excavating machine, the crawler pitch and preset updating step length time;
determining an angle deviation by using the direction of the planned trajectory and the current direction of the excavating machine; determining a distance deviation by using the position of the planned trajectory and the current position of the excavating machine; and determining the target turning angle of the excavating machine by using the angle deviation, the distance deviation and a preset angle deviation coefficient and distance deviation coefficient.
4. The method of any of claims 1 to 3, further comprising:
controlling the excavating machinery to move to the initial excavating point position according to the planned track of the excavating machinery;
in the moving process of the excavating machine, acquiring peripheral environment information of the excavating machine in real time, wherein the peripheral environment information comprises the position of an obstacle in a sensing range of the excavating machine;
determining a collision distance of the excavating machine under the condition that a dynamic obstacle exists in front of the running of the excavating machine, and determining a first distance between the current position of the excavating machine and the obstacle position of the dynamic obstacle;
and adjusting the track acceleration of the excavating machine according to the collision distance and the first distance.
5. The method of claim 4, further comprising:
taking a lateral safe distance position of an obstacle position of a static obstacle as a track relay position when the static obstacle exists in front of the running of the excavating machine;
and re-determining the planned track of the mining machine by using the initial mining point position, the current position of the mining machine and the track relay position.
6. The method of claim 4 or 5, wherein the determining an initial dig point location comprises:
receiving a cooperative work instruction from a cooperative work platform;
reading the cooperative operation instruction, and acquiring the position of the initial excavation point from the cooperative operation instruction; wherein the initial digging point location comprises at least one of a longitude of an initial digging point, a latitude of the initial digging point, and an elevation of the initial digging point.
7. The method of claim 6, further comprising:
sensing surrounding environment information of the initial excavation point position under the condition that the excavation machine moves to the initial excavation point position, and establishing an elevation map by using the surrounding environment information;
determining a mine card loading area on the elevation map;
determining the position of a counter shovel according to the mine card loading area;
and sending the information of the position of the shovel and the state of waiting for the shovel to the cooperative operation platform for the cooperative operation platform to forward to the mine card cooperatively operated with the excavating machinery.
8. The method of claim 7, further comprising:
receiving the waiting state and pose information of the mine card from the cooperative operation platform;
carrying out three-dimensional modeling on the mine card loading area, and determining a tail end travel track point of the bucket of the excavating machine by using a three-dimensional model obtained by the three-dimensional modeling and the pose information of the mine card; the bucket end travel track point comprises a bucket end travel track point of the excavating machine in an excavating process and/or a bucket end travel track point of the excavating machine in a loading process.
9. The method of claim 8, further comprising:
controlling the excavating machine to excavate by utilizing a tail end travel track point of a bucket of the excavating machine, and loading excavated minerals to the mine card;
sensing whether the mine card is full or not in the excavation process;
and under the condition that the mine card is sensed to be full, sending full state information and/or the loading quantity to the cooperative operation platform.
10. An excavating machine comprising:
the communication module is used for receiving the position of the initial digging point;
the sensing module is used for sensing the current position of the mining machine and the surrounding environment information, wherein the surrounding environment information comprises the position of an obstacle in the sensing range of the mining machine; the obstacle position comprises at least one of a static obstacle position and a dynamic obstacle position;
the planning module is used for determining a straight line path formed by the initial excavation point position and the current position, and taking a lateral safe distance position of the obstacle position as a track relay position under the condition that the straight line path conflicts with the obstacle position; and determining the planned track of the mining machine by using the initial mining point position, the current position and the track relay position.
11. The mining machine of claim 10, further comprising:
the control module is used for determining a control instruction for the mining machine by utilizing the planned track, the current position and the motion data of the mining machine;
wherein the current position and motion data of the mining machine includes at least one of a current position, a current direction, left and right track speeds, a track pitch, and a target speed of the mining machine.
12. The mining machine of claim 11, wherein the control commands for the mining machine include at least one of a speed direction and a target steering angle of the mining machine;
the control module is configured to perform at least one of:
determining the speed direction of the excavating machine by utilizing the left and right crawler speeds of the excavating machine, the crawler pitch and preset updating step length time;
determining an angle deviation by using the direction of the planned trajectory and the current direction of the excavating machine; determining a distance deviation by using the position of the planned trajectory and the current position of the excavating machine; and determining the target turning angle of the excavating machine by using the angle deviation, the distance deviation and a preset angle deviation coefficient and distance deviation coefficient.
13. The mining machine of any of claims 10-12, wherein the control module is further configured to control the mining machine to move toward the initial mining point location according to a planned trajectory of the mining machine;
the sensing module is further used for acquiring peripheral environment information of the excavating machine in real time in the moving process of the excavating machine, wherein the peripheral environment information comprises the position of an obstacle in the sensing range of the excavating machine;
the control module is further used for determining the collision distance of the excavating machine under the condition that a dynamic obstacle exists in front of the running of the excavating machine, and determining a first distance between the current position of the excavating machine and the obstacle position of the dynamic obstacle; and adjusting the track acceleration of the excavating machine according to the collision distance and the first distance.
14. The mining machine of claim 13,
the planning module is further used for taking a lateral safe distance position of an obstacle position of the static obstacle as a track relay position under the condition that the static obstacle exists in front of the running of the excavating machine;
and re-determining the planned track of the mining machine by using the initial mining point position, the current position of the mining machine and the track relay position.
15. The mining machine of claim 13 or 14, wherein the communication module is configured to receive a collaborative work instruction from a collaborative work platform; reading the cooperative operation instruction, and acquiring the position of the initial excavation point from the cooperative operation instruction; wherein the initial digging point location comprises at least one of a longitude of an initial digging point, a latitude of the initial digging point, and an elevation of the initial digging point.
16. The mining machine of claim 15,
the sensing module is further used for sensing the ambient environment information of the initial excavation point position and establishing an elevation map by using the ambient environment information under the condition that the excavation machine moves to the initial excavation point position;
the planning module is further used for determining a mine card loading area on the elevation map; determining the position of a counter shovel according to the mine card loading area;
the communication module is further used for sending the information of the position of the opposite shovel and the state of waiting for the opposite shovel to the cooperative operation platform, and the information is used for the cooperative operation platform to forward the information to the mine card cooperatively operated with the excavating machinery.
17. The mining machine of claim 16,
the communication module is further used for receiving the waiting state and the pose information of the mine card from the cooperative operation platform;
the planning module is further used for carrying out three-dimensional modeling on the mine card loading area, and determining a tail end travel track point of the bucket of the excavating machine by using a three-dimensional model obtained by the three-dimensional modeling and the pose information of the mine card; the bucket end travel track point comprises a bucket end travel track point of the excavating machine in an excavating process and/or a bucket end travel track point of the excavating machine in a loading process.
18. The mining machine of claim 17,
the control module is also used for controlling the excavating machine to excavate by utilizing a tail end travel track point of a bucket of the excavating machine and loading excavated minerals to the mine card;
the sensing module is also used for sensing whether the mine card is full or not in the excavation process;
the communication module is further used for sending full state information and/or the loading quantity to the cooperative operation platform under the condition that the mine card is sensed to be full.
19. An unmanned work system for a strip mine, comprising:
a mining machine as claimed in any one of claims 10 to 18;
an unmanned mine card; and the number of the first and second groups,
a collaborative work platform for coordinating the excavation machine and the unmanned mine card.
20. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.
21. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.
22. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-9.
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