CN114510050A - Method and system for specifying unloading position of unmanned system in mining area - Google Patents
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- 238000005065 mining Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000004140 cleaning Methods 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 17
- 230000003993 interaction Effects 0.000 claims description 11
- 238000010586 diagram Methods 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
A method and a system for specifying unloading positions of unmanned systems in mining areas are disclosed, wherein the method comprises the following steps: driving a bulldozer executing a cleaning task to an expected unloading position to create an unloading position, and acquiring a GPS coordinate of the unloading position; designating a target unloading position for the unmanned tramcar from the created unloading positions; and sending the GPS coordinates of the designated target unloading position to a corresponding unmanned mine car so as to control the unmanned mine car to reach the designated target unloading position for unloading.
Description
Technical Field
The disclosure relates to the technical field of unmanned mining areas, in particular to a method and a system for specifying unloading positions of an unmanned mining area system.
Background
With the construction of the national great popularization of mine intellectualization and the vigorous development of the unmanned technology, the introduction of unmanned technology gradually becomes the mainstream, but in the process of executing the dumping operation, a difficulty always exists: the position of the unloading position in the dumping site is not fixed, and the position of the unloading position is dynamically changed along with the advancing of the dumping task. This presents a serious challenge to autonomous driving systems. How to find an effective unloading bit assignment method which can be freely changed as required becomes a big problem for the technical personnel in the field.
Disclosure of Invention
An object of the present disclosure is to solve at least one aspect of the above problems and disadvantages in the related art.
According to an embodiment of the present disclosure, there is provided a method for specifying an unloading position of a mine unmanned system, the method including:
driving a bulldozer executing a cleaning task to an expected unloading position to create an unloading position, and acquiring the current GPS coordinate of the bulldozer as the GPS coordinate of the newly-built unloading position;
designating a target unloading position for the unmanned tramcar from the created unloading positions; and
and sending the GPS coordinates of the designated target unloading position to the corresponding unmanned mine car.
In some exemplary embodiments according to the disclosure, the designating a target unloading location for the unmanned mining vehicle from the created unloading locations comprises: and generating an unloading position distribution diagram based on the coordinates of the unloading positions, and presenting the unloading position distribution diagram to a user so that the user can specify a target unloading position for the unmanned mine car.
In some exemplary embodiments according to the present disclosure, the number of the unload bit is plural.
In some exemplary embodiments according to the present disclosure, the GPS coordinates of the designated target unloading location are sent to the corresponding unmanned tramcar via V2V.
In some exemplary embodiments according to the disclosure, the method further includes acquiring location information of the unmanned tramcar when the unmanned tramcar reaches the unloading area, and making path planning navigation information based on the location information of the unmanned tramcar and a specified target unloading position, and the unmanned tramcar receives the path planning navigation information and tracks to reach the target unloading point according to the path planning navigation information for unloading.
In some exemplary embodiments according to the present disclosure, the method further comprises marking the unload bit in which the unload task was performed as an "off" state.
In some exemplary embodiments according to the present disclosure, the method further comprises performing a cleaning task when at least a portion of the unload bit is marked as an "off" state.
In some exemplary embodiments according to the present disclosure, after the cleaning task is completed, a step of determining whether an unload bit needs to be updated is performed.
According to another aspect of the present disclosure, there is also provided a system for designating an unloading position of a mine unmanned system, including:
a positioning unit: the positioning unit is arranged on a bulldozer used for executing a cleaning task and used for acquiring a real-time GPS coordinate of the bulldozer;
human-computer interaction interface and processing unit: the human-computer interaction interface is configured to receive an input instruction about creating an unloading position, the processing unit is configured to receive the current GPS coordinates of the bulldozer acquired by the positioning unit and use the current GPS coordinates of the bulldozer as the GPS coordinates of a newly-built unloading position when the human-computer interaction interface receives the input instruction about creating the unloading position, and the human-computer interaction interface is further configured to present the created unloading position to a user and receive input information from the user about a target unloading position specified for the unmanned tramcar; a communication unit configured to transmit the coordinates of the target unloading location to the respective unmanned tramcar to cause the unmanned tramcar to reach the designated target unloading location for unloading.
In some exemplary embodiments according to the present disclosure, the processing unit further includes a graph generator, which generates an unloading bit distribution graph based on the coordinates of the created unloading bits, and sends the unloading bit distribution graph to the human-computer interaction interface for display.
In some exemplary embodiments according to the present disclosure, the human-computer interaction interface is a visual display screen.
In some exemplary embodiments according to the present disclosure, the communication unit communicates with the unmanned mining vehicle via V2V.
In some exemplary embodiments according to the disclosure, the processing unit further includes a path planning module configured to, when the unmanned mining vehicle reaches the unloading area, acquire position information of the unmanned mining vehicle, and formulate path planning navigation information based on the position information of the unmanned mining vehicle and the specified target unloading position, and send the path planning navigation information to the unmanned mining vehicle through the communication unit, so as to guide the unmanned mining vehicle to travel to the target unloading point along the track according to the path planning navigation information for unloading.
In some exemplary embodiments according to the present disclosure, the processing unit is further configured to mark the unload bit that has performed the unload task as an "off" state.
In some exemplary embodiments according to the present disclosure, the processing unit further comprises an update module configured to update a state of the unload bit based on a user input after the cleaning task is completed.
According to the method and the system for designating the unloading positions of the unmanned system in the mining area, the positions of the unloading positions can be accurately designated according to specific application, and the positions of the unloading positions can be dynamically adjusted according to needs so as to adapt to the propulsion of a soil discharging task. In addition, the method is feasible, strong in universality and capable of enabling the unmanned vehicle to be easier to implement in the application of the strip mine.
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 flow chart of a method of designation of a mine unmanned system unload bay according to another embodiment of the present disclosure;
fig. 2 is a system block diagram of a designated system of mine unmanned system unload locations according to one embodiment of the present disclosure.
Detailed Description
To more clearly illustrate the objects, aspects and advantages of the present disclosure, embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It is to be understood that the following description of the embodiments is intended to illustrate and explain the general concepts of the disclosure and should not be taken as limiting the disclosure. In the specification and drawings, the same or similar reference numerals refer to the same or similar parts or components. The figures are not necessarily to scale and certain well-known components and structures may be omitted from the figures for clarity.
Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "a" or "an" does not exclude a plurality. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", "top" or "bottom", etc. are used merely to indicate relative positional relationships, which may change when the absolute position of the object being described changes. When an element such as a layer, film, region, or substrate is referred to as being "on" or "under" another element, it can be "directly on" or "under" the other element or intervening elements may be present.
As shown in fig. 1 and 2, a method for designating an unloading site of a mine unmanned system according to an exemplary embodiment of the present disclosure includes:
s1: driving bulldozer 100 executing the cleaning task to a desired unloading position to create an unloading position, and acquiring the current GPS coordinate of bulldozer 100 as the GPS coordinate of the newly created unloading position;
s2, appointing a target unloading position for the unmanned mine car 200 from the created unloading positions; and S3: the GPS coordinates of the designated target unloading location are sent to the corresponding unmanned mine vehicle 200.
According to the present disclosure, an unloading location is created by driving the bulldozer 100, which performs the cleaning task, to a desired unloading location position, and a target unloading location is designated for the unmanned tramcar 200 from the created unloading location, and the GPS coordinates of the designated target unloading location are transmitted to the corresponding unmanned tramcar 200, so that S4, the unmanned tramcar 200 is controlled to reach the designated target unloading location for unloading. In this way, the position of the unloading position can be accurately specified according to specific conditions, and can be dynamically adjusted according to the advancing of the dumping task. In addition, the method is feasible, has strong universality and can make the unmanned mine car easier to implement in the application of the open pit mine.
In an exemplary embodiment, real-time GPS coordinates of bulldozer 100 may be obtained by positioning unit 20 mounted on bulldozer 100. The positioning unit 20 may be, for example, a GNSS positioning device, although the positioning unit 20 may also employ any alternative device known in the art or applicable thereto.
In some embodiments, the step S1 of driving bulldozer 100, which performs a cleaning task, to a desired unloading position to create an unloading position, and the step of acquiring current GPS coordinates of bulldozer 100 as coordinates of the newly created unloading position includes: s11, the driver drives the bulldozer 100 to the expected unloading position in the unloading area; s12, clicking a button of 'new unloading position' on the human-computer interaction interface 40 of the bulldozer 100 to mark the position of the unloading position, wherein, for example, the current GPS coordinate of the bulldozer 100 can be obtained by the positioning unit 20 of the bulldozer 100, and the GPS coordinate and the new unloading position are bound together by the processing unit 10 on the bulldozer 100, namely, the GPS coordinate is taken as the GPS coordinate of the new unloading position; s13: the driver of bulldozer 100 drives bulldozer 100 to the next desired unloading position; s14: steps S12 and S13 are repeated until all unload bits creation is complete.
It should be noted that, in step S11, clicking the "new unload position" button on the human-computer interface 40 of the bulldozer 100 may be replaced by other ways, such as receiving an input command from the user through a sound input, a voice input, or a tactile input.
In embodiments not shown in the present disclosure, an unloading bit profile may be generated based on the coordinates of each unloading bit and presented to the user via the human-machine interface so that the user specifies a target unloading bit for the unmanned mining vehicle 200.
In some embodiments, designating a target unloading location for the unmanned mining vehicle 200 from the created unloading locations comprises: s21: the unmanned mine car 200 arrives at the unloading area, S22: the target unloading location is designated for the unmanned mining vehicle 200 by the driver of the bulldozer 100 via the human interface 40 of the bulldozer 100. However, in other embodiments of the present disclosure, target unloading positions may also be designated in advance for unmanned mine cars 200 located at other locations (e.g., unmanned mine cars 200 that have not reached the unloading zone).
In some embodiments, the GPS coordinates corresponding to the target unloading position are transmitted to the unmanned mine vehicle 200 via the communication unit 30 provided on the bulldozer 100 via v2v (vehicle-to-vehicle communication protocol). However, it will be appreciated by those skilled in the art that in other embodiments of the present disclosure, the transmissions to the drone tramcar 200 may also be via a computer network such as the Internet and/or various telecommunication networks.
In some exemplary embodiments, the method further includes step S5: the unload bit that performed the unload task is marked as an "off" state, where the unload bit in the "off" state is no longer allowed to be used.
In some exemplary embodiments, the method further includes step S6: all unload bits have been marked as "off" and then step S7 is performed: the driver of bulldozer 100 drives bulldozer 100 into the unloading area to perform the cleaning task. However, in other exemplary embodiments of the present disclosure, the driver of bulldozer 100 may drive bulldozer 100 into the unloading zone for a cleaning task after a portion of the unloading positions are marked as "off".
In an exemplary embodiment, the method further includes the step of reporting to the driver of the bulldozer 100 that the designated target discharge location has been reached when the unmanned mining vehicle 200 reaches the designated target discharge location. Specifically, the unmanned mining vehicle 200 may acquire the current coordinates of the unmanned mining vehicle 200 by its own positioning device, and compare the current coordinates with the coordinates of the designated target unloading position to determine whether or not the unmanned mining vehicle 200 reaches the designated target unloading position, when the unmanned mining vehicle 200 reaches the designated target unloading position, the unmanned mining vehicle 200 communicates with the communication unit 30 provided at the bulldozer 100 through v2v, and when the communication unit 30 receives information that the unmanned mining vehicle 200 reaches the designated target unloading position, the processing unit controls the human-machine interface 40 to display information about that the unmanned mining vehicle 200 has reached the designated target unloading position to the driver of the bulldozer 100.
In an exemplary embodiment not shown in this disclosure, the method further includes the step of determining whether the unmanned mining vehicle 200 has reached a designated target unloading location. Determining whether the unmanned mine vehicle 200 has reached the designated unloading location comprises: and acquiring the position information of the unmanned mine car 200, and comparing the position information of the unmanned mine car 200 with the specified target unloading position, thereby judging whether the unmanned mine car 200 reaches the specified target unloading position.
When the current coordinates of the unmanned mine car 200 are completely consistent with the coordinates of the designated target unloading position, the unmanned mine car 200 is judged to reach the designated target unloading position. Of course, when the current coordinates of the unmanned mining vehicle 200 fall within a range of areas having the coordinates of the designated target unloading location as a base point, it may also be considered that the unmanned mining vehicle 200 reaches the designated target unloading location, for example, within a circular area having the coordinates of the designated target unloading location as a center, the size of the circle may be specifically set according to circumstances.
In another exemplary embodiment of the disclosure, the method further comprises obtaining the position information of the unmanned mining vehicle 200 when the unmanned mining vehicle 200 reaches the unloading area, and making path planning navigation information based on the position information of the unmanned mining vehicle 200 and the specified target unloading position, and the unmanned mining vehicle 200 receives the path planning navigation information and tracks to reach the target unloading point according to the path planning navigation information for unloading.
In this embodiment, the method further includes step S8: and judging whether the unloading bit needs to be updated or not after the cleaning task is finished. If the unloading position needs to be updated, step S9 is executed, the bulldozer 100 is driven to enter the unloading area, and the unloading position is reassigned; if the unloading positions do not need to be updated, step S10 is executed to update the status of all the unloading positions to an "on" status to await the arrival of the next unmanned mine car 200.
According to another aspect of the present disclosure, there is also provided a system for designating an unloading position of a mine unmanned system, as shown in fig. 2, the system comprising: a positioning unit 20, a human-machine interface 40, a processing unit 10 and a communication unit 30. The positioning unit 20 is provided on the bulldozer 100 for performing the cleaning task, and is used to acquire real-time GPS coordinates of the bulldozer 100. The human-machine interface 40 is configured to receive an input instruction for creating an unloading position, the processing unit 10 is configured to receive the current GPS coordinates of the bulldozer 100 acquired by the positioning unit 20 and bind the current GPS coordinates of the bulldozer 100 with the newly created unloading position when the human-machine interface 40 receives the input instruction for creating the unloading position, and the human-machine interface 40 is further configured to present the created unloading position to a user (e.g., a driver of the bulldozer) and receive input information from the user regarding a target unloading position specified for the unmanned mining vehicle 200. The communication unit 30 is configured to transmit the coordinates bound to the target unloading location to the corresponding unmanned mining vehicle 200 to enable the unmanned mining vehicle 200 to reach the designated target unloading location for unloading.
In this embodiment, the processing unit 10 further includes a map generator that generates an unload bit map based on the coordinates of the unload bits created and sends to the human-machine interface 40 for display.
In this embodiment, the human-machine interface 40 may be, for example, a visual display screen provided on the bulldozer 100, on which the unloading positions of the new construction are shown. Preferably, the human-machine interface 40 is a touch screen.
In this embodiment, the communication unit 30 communicates with the unmanned mining vehicle 200 via V2V. It is noted that the communication unit may also be transmitted to the unmanned mining vehicle 200 via a computer network, such as the internet, and/or various telecommunication networks. The communication unit may be, for example, a network card, a modem, a wireless communication transceiver, or the like.
In an exemplary embodiment not shown in this disclosure, the processing unit 10 further includes a determination module configured to determine whether the unmanned mining vehicle 200 has reached a specified target unloading location. Specifically, the determining module is configured to receive the position information of the unmanned mine car 200 and compare the position information of the unmanned mine car 200 with the specified target unloading position, thereby determining whether the unmanned mine car 200 reaches the specified target unloading position to ensure accurate unloading to the target unloading position.
In an exemplary embodiment not shown in the present disclosure, the processing unit 10 further includes a path planning module configured to acquire the position information of the unmanned mining vehicle 200 from a positioning and navigation system provided on the unmanned mining vehicle 200 when the unmanned mining vehicle 200 reaches a designated unloading area, and to formulate path planning navigation information based on the position information of the unmanned mining vehicle 200 and the designated target unloading position, and then to transmit the path planning navigation information to the unmanned mining vehicle 200 through the communication unit so that the unmanned mining vehicle 200 travels to the target unloading point in tracking according to the path planning navigation information for unloading. Preferably, the human machine interface 40 is also configured to display the real-time trajectory of the unmanned mining vehicle 200 and the designated target unloading location.
In this embodiment, the processing unit 10 is further configured to mark the unload bit that has performed the unload task as an "off" state.
In this embodiment, the processing unit 10 further comprises an update module configured to update the status of the unload bit based on user input after the cleaning task is completed. If the unloading position needs to be updated, driving the bulldozer 100 into the unloading area, and reassigning the unloading position; if the unloading positions do not need to be updated, the status of all the unloading positions is updated to an "on" status to await the arrival of the next unmanned mine car 200. It should be noted that in other embodiments of the present disclosure, if the unloading positions do not need to be updated, some of the unloading positions may be updated to an "on" state to await the arrival of the next drone mine car 200.
According to the method and the system for designating the unloading positions of the unmanned system in the mining area, the positions of the unloading positions can be accurately designated according to specific application, and the positions of the unloading positions can be dynamically adjusted according to needs so as to adapt to the propulsion of a soil discharging task. In addition, the method is feasible, has strong universality and can enable the unmanned vehicle to be more easily landed in the application of the strip mine.
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, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
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, depending on 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 scope of protection of the present disclosure.
Claims (15)
1. A method of specifying a mine unmanned system off-loading bay, the method comprising:
driving a bulldozer executing a cleaning task to an expected unloading position to create an unloading position, and acquiring the current GPS coordinate of the bulldozer as the GPS coordinate of the newly-built unloading position;
designating a target unloading position for the unmanned tramcar from the created unloading positions; and
and sending the GPS coordinates of the designated target unloading position to the corresponding unmanned mine car.
2. The designation method of claim 1, designating a target unloading location for the unmanned mining vehicle from the created unloading locations comprising: and generating an unloading position distribution diagram based on the coordinates of the unloading positions, and presenting the unloading position distribution diagram to a user so that the user can specify a target unloading position for the unmanned mine car.
3. The designation method according to claim 1, wherein the number of unload bits is plural.
4. The designation method of claim 1 wherein the GPS coordinates of the designated target unloading location are transmitted to the respective unmanned tramcar via V2V.
5. The designation method according to claim 1, further comprising acquiring location information of the unmanned mine car when the unmanned mine car reaches an unloading area, and making path planning navigation information based on the location information of the unmanned mine car and the designated target unloading location, the unmanned mine car receiving the path planning navigation information and tracking according to the path planning navigation information to reach the target unloading point for unloading.
6. The specified method of any of claims 1-5, wherein the method further comprises marking an unload bit that has performed an unload task as an "off" state.
7. The specified method of claim 6 wherein the method further comprises performing a cleanup task when at least a portion of the unload bits are marked as "off.
8. The method of claim 7, wherein the step of determining whether an unload bit needs to be updated is performed after the cleaning task is completed.
9. A system for designation of a mine unmanned system off-loading bay, comprising:
a positioning unit: the positioning unit is arranged on a bulldozer used for executing a cleaning task and used for acquiring a real-time GPS coordinate of the bulldozer;
human-computer interaction interface and processing unit: the human-computer interaction interface is configured to receive an input instruction about creating an unloading position, the processing unit is configured to receive the current GPS coordinates of the bulldozer acquired by the positioning unit and use the current GPS coordinates of the bulldozer as the GPS coordinates of a newly-built unloading position when the human-computer interaction interface receives the input instruction about creating the unloading position, and the human-computer interaction interface is further configured to present the created unloading position to a user and receive input information from the user about a target unloading position specified for the unmanned tramcar; a communication unit configured to transmit the coordinates of the target unloading location to the respective unmanned tramcar to cause the unmanned tramcar to reach the designated target unloading location for unloading.
10. The designation system of claim 9, wherein the processing unit further comprises a graph generator that generates an unload bit profile based on coordinates associated with the created unload bits and sends the unload bit profile to the human-machine interface for display.
11. The designation system according to claim 9, wherein said human-machine interface is a visual display screen.
12. The designation system of claim 9 wherein said communication unit communicates with said unmanned mining vehicle via V2V.
13. The designation system of claim 9, wherein the processing unit further comprises a path planning module configured to obtain location information of the unmanned mining vehicle when the unmanned mining vehicle reaches an unloading area, and to formulate path planning navigation information based on the location information of the unmanned mining vehicle and the designated target unloading location, and to send the path planning navigation information to the unmanned mining vehicle via the communication unit to guide the unmanned mining vehicle to trace to the target unloading point for unloading according to the path planning navigation information.
14. The specification system according to any one of claims 9-13, wherein the processing unit is further configured to mark an unload bit that has performed an unload task as an "off" state.
15. The designation system of claim 14 wherein the processing unit further comprises an update module configured to update the status of the unload bit based on user input after completion of a cleaning task.
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