CN116026351B - Unmanned mine car route planning method and device and mine car - Google Patents
Unmanned mine car route planning method and device and mine car Download PDFInfo
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Abstract
The embodiment of the invention provides a route planning method for an unmanned mine car, which relates to the field of unmanned and comprises the following steps of: acquiring the current position, a drivable area and first loading and unloading requirement information of an unmanned mine car; wherein the first loading and unloading requirement information is used for indicating a first loading position and a first unloading position; planning a first driving route according to the current position, the driving area, the first loading position and the first unloading position; if the loading capacity corresponding to the first loading and unloading requirement information is smaller than the residual loading capacity of the unmanned mine car, acquiring second loading and unloading requirement information which is passed by the first driving route; wherein the second loading and unloading requirement information is used for indicating a second loading position; adjusting the first driving route according to the second loading and unloading requirement information to obtain a second driving route; wherein the second travel route passes through the second loading position. The method can improve the transportation efficiency of the unmanned mine car.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a method and a device for planning a route of an unmanned mine car and the mine car.
Background
With the rapid advance of unmanned technology, various large-vehicle enterprises and unmanned system solution providers are continuously striving to push unmanned technology to commercial landings. Unmanned technology is no longer an unobtrusive future technology. The unmanned technical category not only relates to the fields of vehicle control, path planning, perception fusion and the like, but also relates to the leading edge fields of artificial intelligence, machine learning, deep learning, reinforcement learning and the like. The unmanned vehicle is characterized in that the surrounding environment and state of the vehicle are identified through various vehicle-mounted sensors (such as cameras, laser radars, millimeter wave radars, GPS, inertial sensors and the like), analysis and judgment are automatically made according to the obtained environment information (including road information, traffic information, vehicle position, obstacle information and the like), so that the movement of the vehicle is automatically controlled, and finally unmanned vehicle is realized.
The application range of the unmanned technology is not only limited to the conventional travel of people, but also can be applied to various production fields. In particular, unmanned techniques may also be applied in the field of mineral exploitation. In large-scale surface mine exploitation, with the depth of exploitation downspection, the phenomenon that the slope is big, the bend is many increases gradually, and mine production degree of difficulty increases constantly, and unmanned mine car is the effective way that realizes safety in production, reduces artifical and whole car use cost, promotes operating efficiency.
Unmanned mining vehicles typically arrive at a designated location during operation according to an automatically planned route and are then filled with mineral aggregate by other engineering equipment, such as an excavator. After the filling of the mineral aggregate is completed, the mineral aggregate will continue to move along the automatically planned route to the location where the mineral aggregate is unloaded, to complete the transport of the mineral aggregate. However, the existing automatic planning route of the unmanned mine car is planned according to the loading position and the unloading position simply, and the transportation efficiency is low.
Disclosure of Invention
In view of the above, the present invention aims to provide a method and a device for planning a route of an unmanned mine car, and a mine car, which can improve the transportation efficiency of the unmanned mine car.
In order to achieve the above object, the technical scheme adopted by the embodiment of the invention is as follows:
In a first aspect, the present invention provides a method for route planning of an unmanned mine car, applied to an unmanned mine car. The method of the first aspect comprises the following steps: acquiring the current position, a drivable area and first loading and unloading requirement information of the unmanned mine car; wherein the first loading and unloading requirement information is used for indicating a first loading position and a first unloading position; planning a first travel route according to the current position, the drivable area, the first loading position and the first unloading position; if the loading capacity corresponding to the first loading and unloading requirement information is smaller than the residual loading capacity of the unmanned mine car, acquiring second loading and unloading requirement information which is passed by the first driving route; wherein the second loading and unloading requirement information is used for indicating a second loading position; adjusting the first driving route according to the second loading and unloading requirement information to obtain a second driving route; wherein the second travel route passes through the second loading position.
In an optional embodiment of the present invention, the step of obtaining the second loading and unloading requirement information routed by the first driving route includes: acquiring third loading and unloading requirement information; wherein the loading position indicated by the third loading and unloading requirement information is less than a first preset distance from the first travel route; and determining the third loading and unloading requirement information as the second loading and unloading requirement information.
In an alternative embodiment of the present invention, the step of obtaining the third loading and unloading requirement information includes: acquiring a plurality of loading and unloading requirement information to be operated; wherein, each piece of to-be-operated loading and unloading material requirement information corresponds to a priority, and the loading position indicated by each piece of to-be-operated loading and unloading material requirement information is smaller than the first preset distance from the first driving route; and determining the loading and unloading requirement information to be operated with the highest priority in the loading and unloading requirement information to be operated as the third loading and unloading requirement information.
In an optional embodiment of the present invention, the step of obtaining the second loading and unloading requirement information routed by the first driving route includes: if the current endurance mileage of the unmanned mine car is lower than the endurance threshold, acquiring fourth loading and unloading requirement information; the fourth loading and unloading requirement information is used for indicating the second loading position and the second unloading position, and the second unloading position is smaller than a second preset distance from the charging position of the unmanned mine car; and determining the fourth loading and unloading requirement information as the second loading and unloading requirement information.
In an alternative embodiment of the present invention, the step of obtaining the fourth loading and unloading requirement information includes: acquiring a plurality of loading and unloading requirement information to be operated; the second unloading position is used for indicating the second loading position and the third unloading position, and the third unloading position indicated by the second unloading position is smaller than a second preset distance from the charging position of the unmanned mine car; and determining the to-be-operated loading and unloading requirement information with the shortest distance between the third unloading position and the charging position in the to-be-operated loading and unloading requirement information as the second loading and unloading requirement information.
In an alternative embodiment of the invention, the travelable region is determined by the working area and the location of obstacles, including other mine cars.
In an alternative embodiment of the present invention, the step of adjusting the first driving route according to the second loading and unloading requirement information to obtain a second driving route includes: acquiring the driving routes of the other mine cars; and adjusting the first driving route according to the driving routes of the other mine cars and the second loading and unloading requirement information to obtain the second driving route.
In an alternative embodiment of the invention, the unmanned mine car is driven to carry out a loading and unloading operation according to the second driving route.
In a second aspect, the invention provides a route planning device for an unmanned mine car, which is applied to the unmanned mine car and comprises an acquisition module and a planning module. The acquisition module is used for acquiring the current position, the drivable area and the first loading and unloading requirement information of the unmanned mine car; wherein the first loading and unloading requirement information is used for indicating a first loading position and a first unloading position; the planning module is used for planning a first driving route according to the current position, the driving area, the first loading position and the first unloading position; the acquisition module is further used for acquiring second loading and unloading requirement information passing by the first driving route if the loading capacity corresponding to the first loading and unloading requirement information is smaller than the residual loading capacity of the unmanned mine car; wherein the second loading and unloading requirement information is used for indicating a second loading position; the planning module is further used for adjusting the first driving route according to the second loading and unloading requirement information to obtain a second driving route; wherein the second travel route passes through the second loading position.
In an optional embodiment of the present invention, the obtaining module is further configured to obtain third loading and unloading requirement information; wherein the loading position indicated by the third loading and unloading requirement information is less than a first preset distance from the first travel route; the obtaining module is further configured to determine the third loading and unloading requirement information as the second loading and unloading requirement information.
In an optional embodiment of the present invention, the obtaining module is further configured to obtain a plurality of material loading and unloading requirement information to be operated; wherein, each piece of to-be-operated loading and unloading material requirement information corresponds to a priority, and the loading position indicated by each piece of to-be-operated loading and unloading material requirement information is smaller than the first preset distance from the first driving route; the obtaining module is further configured to determine, as the third loading and unloading requirement information, loading and unloading requirement information to be operated with a highest priority among the plurality of loading and unloading requirement information to be operated.
In an optional embodiment of the present invention, the obtaining module is further configured to obtain fourth loading and unloading requirement information if a current range of the unmanned mine car is lower than a range threshold; the fourth loading and unloading requirement information is used for indicating the second loading position and the second unloading position, and the second unloading position is smaller than a second preset distance from the charging position of the unmanned mine car; the obtaining module is further configured to determine the fourth loading and unloading requirement information as the second loading and unloading requirement information.
In an optional embodiment of the present invention, the obtaining module is further configured to obtain a plurality of material loading and unloading requirement information to be operated; the second unloading position is used for indicating the second loading position and the third unloading position, and the third unloading position indicated by the second unloading position is smaller than a second preset distance from the charging position of the unmanned mine car; the obtaining module is further configured to determine, as the second loading and unloading requirement information, loading and unloading requirement information to be operated, where the third unloading position is the shortest distance from the charging position in the plurality of loading and unloading requirement information to be operated.
In an alternative embodiment of the invention, the travelable region is determined by the working area and the location of obstacles, including other mine cars.
In an alternative embodiment of the present invention, the obtaining module is further configured to obtain a driving route of the other mine car; the acquisition module is further used for adjusting the first driving route according to the driving routes of the other mine cars and the second loading and unloading requirement information to obtain the second driving route.
In an alternative embodiment of the present invention, the planning module is further configured to drive the unmanned mine car to perform a loading and unloading operation according to the second driving route.
In a third aspect, the present invention provides an unmanned mine car, comprising a mine car; an unmanned unit; the unmanned aerial vehicle unit comprises a processor and a memory, the memory storing machine-readable instructions for executing the machine-readable instructions to implement the method of route planning for an unmanned mining vehicle according to any of the alternative embodiments of the first aspect.
In a fourth aspect, the invention provides a computer readable storage medium comprising a computer program which, when run on a computer, causes the route planning method of the unmanned mining vehicle according to any one of the alternative embodiments of the first aspect to be performed.
Based on the embodiments provided in the above aspects, compared with the existing route planning method of the unmanned mine car, in the route planning method of the unmanned mine car provided in the embodiment of the invention, the first driving route is planned according to the current position, the drivable area, the first loading position and the first unloading position, and then, if the loading capacity corresponding to the first loading and unloading requirement information is smaller than the remaining loading capacity of the unmanned mine car, the second loading and unloading requirement information passed by the first driving route is obtained, and the first driving route is adjusted according to the second loading and unloading requirement information, so as to obtain the second driving route. In other words, after the first running route is planned, the method can readjust the running route according to other loading and unloading requirement information passed by the first running route under the condition that the unmanned mine car can still continue loading mineral aggregate, so that the unmanned mine car can run as full as possible in one transportation process through a plurality of loading positions and unloading positions passed by the adjusted running route. Therefore, the route planning method for the unmanned mine car provided by the embodiment of the invention can improve the transportation efficiency of the mine car and save energy and cost.
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments of the present invention will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of an unmanned unit according to an embodiment of the present invention;
FIG. 2 is a block diagram of an unmanned mining vehicle according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for route planning for an unmanned mining vehicle according to an embodiment of the present invention;
FIG. 4 is a flowchart of S120 in a method for route planning for an unmanned mining vehicle according to an embodiment of the present invention;
FIG. 5 is a flowchart of step 1.1 in a method for route planning for an unmanned mining vehicle according to an embodiment of the present invention;
FIG. 6 is a flowchart of S120 in a method for route planning for an unmanned mining vehicle according to an embodiment of the present invention;
FIG. 7 is a flowchart of step 2.1 in a method for route planning for an unmanned mining vehicle according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an application scenario of a route planning method for an unmanned mining vehicle according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of an application scenario of a route planning method for an unmanned mining vehicle according to an embodiment of the present invention;
FIG. 10 is a flowchart of S130 in a method for route planning for an unmanned mining vehicle according to an embodiment of the present invention;
FIG. 11 is a functional block diagram of a route planning apparatus for an unmanned mining vehicle according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
In the design implementation process of the embodiment of the present invention, the inventors of the present invention found that: unmanned mine cars typically arrive at a designated location according to an automatically planned route and are then filled with mineral aggregate by other engineering equipment, such as an excavator. After the filling of the mineral aggregate is completed, the mineral aggregate will continue to move along the automatically planned route to the location where the mineral aggregate is unloaded, thereby completing the transport of the mineral aggregate. However, the existing automatic route planning method of the unmanned mine car is simply used for route planning according to the loading position and the unloading position, and the transportation efficiency is low.
In order to solve the problems in the prior art, the embodiment of the invention provides a technical scheme, including a route planning method and device for an unmanned mine car and the mine car. The scheme can improve the transportation efficiency of the unmanned mine car and save energy and cost. It should be noted that, the technical problems of the prior art solutions described above are all results obtained by the inventor after careful practical study, and therefore, the discovery process of the problems described above and the solutions provided by the embodiments of the present invention below for the problems described above should be all contributions of the inventor to the implementation of the present invention.
First, the embodiment of the invention provides a route planning unit (also called an unmanned unit) of an unmanned mine car. Please refer to fig. 1, which is a block diagram of an unmanned unit according to an embodiment of the present invention. The unmanned aerial vehicle unit 100 may include: the memory 110, the processor 120, the memory 110, the processor 120 may be electrically connected directly or indirectly to the communication interface 130 to enable transmission and interaction of data. For example, the components may be electrically connected to each other via buses and/or signal lines.
The processor 120 may process information and/or data related to the route planning method of the unmanned mining vehicle to perform one or more of the functions described herein. For example, the processor 120 may: acquiring the current position, a drivable area and first loading and unloading requirement information of an unmanned mine car; wherein the first loading and unloading requirement information is used for indicating a first loading position and a first unloading position; planning a first driving route according to the current position, the driving area, the first loading position and the first unloading position; if the loading capacity corresponding to the first loading and unloading requirement information is smaller than the residual loading capacity of the unmanned mine car, acquiring second loading and unloading requirement information which is passed by the first driving route; wherein the second loading and unloading requirement information is used for indicating a second loading position; adjusting the first driving route according to the second loading and unloading requirement information to obtain a second driving route; wherein the second travel route passes through the second loading position. In this manner, the unmanned aerial vehicle 100 can improve the transport efficiency of the unmanned mining vehicle.
The memory 110 may include, but is not limited to: solid state disk (Solid STATE DISK, SSD), mechanical hard disk (HARD DISK DRIVE, HDD), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), random access Memory (Random Access Memory, RAM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), and the like.
The processor 120 described above may include, but is not limited to: a central processor (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but are also not limited to: application SPECIFIC INTEGRATED Circuits (ASICs), digital signal processors (DIGITAL SIGNAL Processing, DSP), field-Programmable gate arrays (Field-Programmable GATEARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Thus, the processor 120 may be an integrated circuit chip with signal processing capabilities.
It is to be understood that the configuration of the drone unit 100 shown in fig. 1 is merely one schematic configuration, and that the drone unit 100 may also include more or fewer components or modules than the configuration shown in fig. 1, or have a different configuration or construction than the configuration shown in fig. 1. Also, the components shown in FIG. 1 may be implemented in hardware, software, or a combination of both.
In addition, it should be further understood that the unmanned aerial vehicle unit 100 provided by the present invention may be configured or constructed differently according to the requirements of the actual application. For example, the unmanned unit 100 provided by the invention may be a control core device of an unmanned mine car (such as a controller and a control board in the unmanned mine car), or may be an electronic device with communication, calculation and storage functions (such as a server, a cloud platform, a computer, a mobile phone, a tablet, etc.).
Therefore, when the unmanned unit 100 provided by the embodiment of the invention is a control core device of an unmanned mine car, the invention also provides an unmanned mine car, which can plan a route for improving the transportation efficiency of the unmanned mine car. The method provided by the invention is not limited to the unmanned mine car, and can be applied to other working equipment, such as agricultural tractors, unmanned vehicles, unmanned planes, various types of carriers, unmanned ships and the like.
Referring to fig. 2, a block diagram of an unmanned mine car 200 according to an embodiment of the invention is shown, and the unmanned mine car 200 includes a mine car 210 and the unmanned unit 100 described above. It should be noted that the configuration shown in FIG. 2 is merely illustrative and that the unmanned mining vehicle 200 may also include more or fewer components than shown in FIG. 2 or have a different configuration than that shown in FIG. 2.
Further, when the unmanned driving unit 100 provided by the present invention is an electronic device with communication, calculation and storage functions, the electronic device may also: acquiring the current position, a drivable area and first loading and unloading requirement information of an unmanned mine car; wherein the first loading and unloading requirement information is used for indicating a first loading position and a first unloading position; planning a first driving route according to the current position, the driving area, the first loading position and the first unloading position; if the loading capacity corresponding to the first loading and unloading requirement information is smaller than the residual loading capacity of the unmanned mine car, acquiring second loading and unloading requirement information which is passed by the first driving route; wherein the second loading and unloading requirement information is used for indicating a second loading position; adjusting the first driving route according to the second loading and unloading requirement information to obtain a second driving route; wherein the second travel route passes through the second loading position. Therefore, the route planning method for the unmanned mine car provided by the embodiment of the invention can be realized.
In the following, for ease of understanding, the following embodiments of the present invention will take the unmanned mine car 200 shown in fig. 2 as an example, and the route planning method of the unmanned mine car provided in the embodiments of the present invention will be described with reference to the accompanying drawings.
Referring to fig. 3, fig. 3 shows a flowchart of a method for planning a route of an unmanned mine car according to an embodiment of the invention. The method for planning the route of the unmanned mine car can be applied to the unmanned mine car 200, and the method for planning the route of the unmanned mine car can comprise the following steps S100 to S130, which are respectively described below.
S100, acquiring the current position, the drivable area and the first loading and unloading requirement information of the unmanned mine car 200.
Wherein the first loading and unloading requirement information is used for indicating a first loading position and a first unloading position. In other words, the first loading and unloading demand information is used to instruct the unmanned mining vehicle 200 to perform a mineral load at the first loading location and then to perform a mineral unload at the first unloading location. Optionally, the first loading and unloading requirement information includes first loading position information and first unloading position information. It is to be understood that the loading demand messages may be referred to herein by the names loading demand information, loading mineral demand information, loading material demand information, and the like, without limitation.
In an alternative embodiment, the current location of the unmanned mine car 200 may be GPS positioning information or beidou satellite positioning information of the unmanned mine car 200, which is not limited. In addition, the current position of the unmanned mining vehicle 200 may be in the form of two-dimensional coordinates or three-dimensional coordinates, which are not limited thereto. For example, in a rough, uneven ground work area (e.g., mountain range), the current location of the unmanned mining vehicle 200 is in the form of three-dimensional coordinates. For another example, in a work area where the ground is level (e.g., a plain mine), the current location of the unmanned mine car 200 is in the form of two-dimensional coordinates. Since the two-dimensional coordinates have small calculation amount when being used for planning a route, if the unmanned mine car 200 works in a working area with a flat ground, the current position is set to be the two-dimensional coordinates, the calculation amount can be reduced, the speed of route planning can be improved, and the working efficiency of the unmanned mine car 200 can be improved.
In an alternative embodiment, the above-described travelable region is determined by the working region and the obstacle position. Wherein the obstacle position may include an obstacle region determined according to the position of the obstacle. Specifically, for example, the obstacle region may include a region having a radius of a preset obstacle distance with a center coordinate (for example, centroid coordinate) of the obstacle as a center of a circle; for another example, the obstacle region may include a region of a preset obstacle distance from the obstacle surface. The specific explanation of the obstacle region according to the embodiment of the present invention is not limited.
It will be appreciated that the drivable zone is determined by the work area and the obstacle location, including: an area other than the obstacle area in the work area.
In an alternative embodiment, the obstacles include stationary obstacles and moving obstacles. In particular, the moving obstacle includes other mine cars. In this way, the planned travel route of the unmanned mine car 200 can avoid other mine cars, thereby improving the safety of mine car operation.
S110, planning a first driving route according to the current position, the driving area, the first loading position and the first unloading position.
In an alternative embodiment, the manner of planning the first travel route based on the current location, the drivable area, the first loading location and the first unloading location may comprise: the Dijkstra algorithm, the a-algorithm, the D-algorithm, the ant colony algorithm, the deep neural network path planning learning algorithm, and the like are not limited thereto.
And S120, if the loading capacity corresponding to the first loading and unloading requirement information is smaller than the residual loading capacity of the unmanned mining car 200, acquiring second loading and unloading requirement information passing by the first driving route.
Wherein the second loading and unloading requirement information is used for indicating a second loading position. In other words, the second loading and unloading requirement information is used to instruct the unmanned mining vehicle 200 to perform a mineral load at the second loading location. Optionally, the second loading requirement information includes second loading position information.
In an alternative embodiment, the first loading demand information is also used to indicate the amount of mineral aggregate that needs to be loaded when loading the mineral aggregate at the first loading location (i.e. the load amount corresponding to the first loading demand information).
In S120, the implementation manners of obtaining the second loading and unloading requirement information passed by the first driving route include the following two (manner 1 and manner 2):
In mode 1, referring to fig. 4, in S120, the step of obtaining the second loading and unloading requirement information passed by the first driving route includes the following steps 1.1 to 1.2.
And 1.1, obtaining the third loading and unloading requirement information.
Wherein the loading position indicated by the third loading and unloading requirement information is smaller than the first preset distance from the first driving route. In other words, the loading demand information indicating that the loading position is less than the first preset distance from the first travel route is determined as the third loading demand information, and the information is acquired.
And step 1.2, determining the third loading and unloading requirement information as second loading and unloading requirement information.
The loading position indicated by the third loading and unloading requirement information is the second loading position.
It will be appreciated that since the loading position indicated by the third loading demand information is less than the first preset distance from the first travel route, the second loading demand information may be regarded as loading demand information in the vicinity of the first travel route.
Optionally, referring to fig. 5, in the step 1.1, the step of obtaining the third loading and unloading requirement information includes the following steps 1.11 to 1.12.
And step 1.11, obtaining a plurality of material loading and unloading requirement information to be operated.
Wherein, each wait to operate loading and unloading demand information corresponds a priority, and the loading position that each wait to operate loading and unloading demand information indicates is less than first preset distance apart from first travel route.
In an alternative embodiment, the priority corresponding to the to-be-worked loading and unloading requirement information may be set by a worker, for example, the worker (the excavator driver) may send the to-be-worked loading and unloading requirement information to the unmanned mine car 200 through the communication device, and set the to-be-worked loading and unloading requirement information according to own waiting time, where the longer the waiting time is, the higher the priority is set.
And step 1.12, determining the to-be-operated loading and unloading requirement information with the highest priority in the plurality of to-be-operated loading and unloading requirement information as third loading and unloading requirement information.
According to steps 1.11-1.12, the final planned second driving route (see below) of the unmanned mine car 200 can be enabled to pass through the loading and unloading requirement information with higher priority, so that the working efficiency of the overall mine site operation is improved.
In mode 2, referring to fig. 6, in S120, the step of obtaining the second loading and unloading requirement information passed by the first driving route includes the following steps 2.1 to 2.2.
And 2.1, if the current range of the unmanned mine car 200 is lower than the range threshold, acquiring fourth loading and unloading requirement information. The fourth loading and unloading requirement information is used for indicating the second loading position and the second unloading position, and the second unloading position is smaller than the second preset distance from the charging position of the unmanned mine car 200.
The unmanned mine car 200 may be an electric mine car or a fuel mine car, which is not limited thereto. In an alternative embodiment, when the unmanned mine car 200 is an electric mine car, the current range of the unmanned mine car 200 may refer to the remaining range of the electric range. When the unmanned mine car 200 is a fuel mine car, the current range of the unmanned mine car 200 may refer to the range of remaining fuel.
When the unmanned mine car 200 is an electric mine car, the charging position refers to a mine car charging station; when the unmanned mine car 200 is a fuel mine car, the charging position described above is referred to as a mine car gas station.
And 2.2, determining the fourth loading and unloading requirement information as second loading and unloading requirement information. In other words, the second loading and unloading requirement information may be regarded as unloading requirement information in which the unloading position is closer to the charging position.
Optionally, referring to fig. 7, in the step 2.1, the step of obtaining the fourth loading and unloading requirement information includes the following steps 2.11 to 2.12.
And 2.11, acquiring a plurality of material loading and unloading requirement information to be operated. Each piece of the to-be-operated loading and unloading requirement information is used for indicating the second loading position and the third unloading position, and the third unloading position indicated by each piece of the to-be-operated loading and unloading requirement information is smaller than the second preset distance from the charging position of the unmanned mine car 200.
And 2.12, determining the to-be-operated loading and unloading requirement information with the shortest distance from the third unloading position to the charging position in the to-be-operated loading and unloading requirement information as second loading and unloading requirement information.
According to steps 2.11 to 2.12, the unloading position of the second driving route finally planned by the unmanned mine car 200 can be the loading and unloading requirement information closest to the charging position. Thus, the unmanned mine car 200 can be discharged at the discharge position closest to the charging position, and the mine car can be conveniently returned to the charging position. Further, the unmanned mine car 200 can be loaded with a single load during the return of the continuous voyage, and the load loading efficiency can be improved.
S130, adjusting the first driving route according to the second loading and unloading requirement information to obtain a second driving route.
Wherein the second travel route passes through the second loading position.
According to the above-described S100-S130, in one example, as shown in fig. 8, the unmanned mining vehicle 200 may plan the first travel route (L1) according to the current location, the drivable area, the first loading position (loading position a), and the first unloading position (unloading position a). Then, in the case where the required load amount at the loading position a is smaller than the remaining load amount of the unmanned mining vehicle 200, the first travel route (L1) may be adjusted according to the second loading and unloading requirement information (specifically, the loading position B), and the second travel route (L2) may be obtained. Thus, after the first travel route (L1) is planned, the unmanned mine car 200 can readjust the travel route according to the second loading and unloading requirement information passed by the first travel route (L1) under the condition that the ore materials can be loaded continuously, so that the adjusted travel route (L2) passes by the loading position B, and the unmanned mine car can run as full as possible in one transportation process, thereby improving the transportation efficiency of the mine car and saving energy and cost.
In another example, as shown in fig. 9, after the first travel route (L1) is planned, in the case where the required loading capacity at the loading position a is smaller than the remaining loading capacity of the unmanned mine car 200 and the current range of the unmanned mine car 200 is lower than the range threshold, the first travel route (L1) may be adjusted according to the second loading and unloading requirement information (specifically including the loading position B and the unloading position B closest to the charging position), so as to obtain the second travel route (L2). Thus, the unmanned mine car 200 can be discharged at the discharge position closest to the charging position, and the mine car can be conveniently returned to the charging position. Further, the unmanned mine car 200 can be loaded with a single load during the return of the continuous voyage, and the load loading efficiency can be improved.
In alternative embodiments, the travelable region is defined by the work area and the location of the obstacle, including other mine cars. Under this condition, referring to fig. 10, in S130, the step of adjusting the first driving route according to the second loading and unloading requirement information to obtain the second driving route includes:
And 3.1, acquiring the driving routes of other mine cars.
And 3.2, adjusting the first driving route according to the driving routes of other mine cars and the second loading and unloading requirement information to obtain a second driving route.
With continued reference to fig. 3, the method for planning a route of the unmanned mine car 200 further includes step S140, driving the unmanned mine car 200 to perform a loading and unloading operation according to the second driving route.
It should be understood that in the above-mentioned steps S100 to S130, the present embodiment plans the first driving route according to the current position, the drivable area, the first loading position and the first unloading position, and then, if the loading capacity corresponding to the first loading and unloading requirement information is smaller than the remaining loading capacity of the unmanned mine car, obtains the second loading and unloading requirement information that the first driving route passes through, and adjusts the first driving route according to the second loading and unloading requirement information, so as to obtain the second driving route. In other words, after the first running route is planned, the method can readjust the running route according to other loading and unloading requirement information passed by the first running route under the condition that the unmanned mine car can still continue loading mineral aggregate, so that the unmanned mine car can run as full as possible in one transportation process through a plurality of loading positions and unloading positions passed by the adjusted running route. Therefore, the route planning method for the unmanned mine car provided by the embodiment of the invention can improve the transportation efficiency of the mine car and save energy and cost.
In order to perform the corresponding steps in the foregoing embodiments and the various possible manners, an implementation manner of a route planning apparatus for an unmanned mine car is given below, and referring to fig. 11, fig. 11 is a functional block diagram of a route planning apparatus 300 for an unmanned mine car according to an embodiment of the present invention. The route planning device 300 for the unmanned mine car may be applied to the unmanned mine car 200 shown in fig. 2 and may be used to perform the steps that can be performed by the unmanned mine car 200 in the method embodiment. It should be noted that, the basic principle and the technical effects of the route planning device 300 for an unmanned mine car according to the present embodiment are the same as those of the above embodiment, and for brevity, the description of the present embodiment is not mentioned in the section of the present embodiment, and the corresponding content in the above embodiment may be standardized. The route planning device 300 of the unmanned mine car may include: an acquisition module 310 and a planning module 320.
Alternatively, the modules may be stored in memory in the form of software or Firmware (Firmware) or cured in the Operating System (OS) of the unmanned mining vehicle 200 shown in fig. 2 provided by the present invention and executed by a processor in the unmanned mining vehicle 200 shown in fig. 2. Meanwhile, data, codes of programs, and the like required to execute the above-described modules may be stored in the memory.
It will be appreciated that the acquisition module 310, the planning module 320 may be used to support the unmanned mining vehicle 200 shown in FIG. 2 to perform the steps associated with the method embodiments described above, and/or other processes for the techniques described herein, such as the method embodiments described above and the various method embodiments described above with respect to FIGS. 3-7, 10, are not limited in this regard.
The acquiring module 310 is configured to acquire current position, a drivable area, and first loading and unloading requirement information of the unmanned mine car; wherein the first loading and unloading requirement information is used for indicating a first loading position and a first unloading position; a planning module 320 for planning a first travel route according to the current location, the drivable area, the first loading location and the first unloading location; the obtaining module 310 is further configured to obtain second loading and unloading requirement information that the first driving route passes through if the loading capacity corresponding to the first loading and unloading requirement information is smaller than the remaining loading capacity of the unmanned mine car; wherein the second loading and unloading requirement information is used for indicating a second loading position; the planning module 320 is further configured to adjust the first driving route according to the second loading and unloading requirement information to obtain a second driving route; wherein the second travel route passes through the second loading position.
In an alternative embodiment of the present invention, the obtaining module 310 is further configured to obtain third loading and unloading requirement information; wherein the loading position indicated by the third loading and unloading requirement information is smaller than the first preset distance from the first driving route; the obtaining module 310 is further configured to determine the third loading requirement information as the second loading requirement information.
In an alternative embodiment of the present invention, the obtaining module 310 is further configured to obtain a plurality of material loading and unloading requirement information to be operated; wherein, each piece of to-be-operated loading and unloading requirement information corresponds to a priority, and the loading position distance indicated by each piece of to-be-operated loading and unloading requirement information is smaller than a first preset distance from a first driving route; the obtaining module 310 is further configured to determine, as the third loading and unloading requirement information, loading and unloading requirement information to be operated with a highest priority among the plurality of loading and unloading requirement information to be operated.
In an alternative embodiment of the present invention, the obtaining module 310 is further configured to obtain the fourth loading and unloading requirement information if the current range of the unmanned mine car is lower than the range threshold; the fourth loading and unloading requirement information is used for indicating the second loading position and the second unloading position, and the second unloading position is smaller than a second preset distance from the charging position of the unmanned mine car; the obtaining module 310 is further configured to determine the fourth loading requirement information as the second loading requirement information.
In an alternative embodiment of the present invention, the obtaining module 310 is further configured to obtain a plurality of material loading and unloading requirement information to be operated; each piece of to-be-operated loading and unloading requirement information is used for indicating the second loading position and the third unloading position, and the distance between the third unloading position indicated by the to-be-operated loading and unloading requirement information and the charging position of the unmanned mine car is smaller than a second preset distance; the obtaining module 310 is further configured to determine, as the second loading and unloading requirement information, loading and unloading requirement information to be operated, where the third unloading position is the shortest distance from the charging position in the multiple loading and unloading requirement information to be operated.
In an alternative embodiment of the invention, the travelable region is determined by the working area and the location of the obstacle, which includes other mine cars.
In an alternative embodiment of the present invention, the obtaining module 310 is further configured to obtain a driving route of another mine car; the obtaining module 310 is further configured to adjust the first driving route according to the driving route of the other mine car and the second loading and unloading requirement information, so as to obtain a second driving route.
In an alternative embodiment of the present invention, the planning module 320 is further configured to drive the unmanned mine car to perform a loading and unloading operation according to the second travel route.
Based on the above method embodiments, the present invention further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor performs the steps of the method for route planning of an unmanned mining vehicle.
Specifically, the storage medium may be a general storage medium, such as a mobile magnetic disk, a hard disk, or the like, and when the computer program on the storage medium is executed, the method in the above embodiment can be executed, so as to solve the problem that the planning process of the automatic planning route of the existing unmanned mine car simply plans according to the loading position and the unloading position, and the transportation efficiency is low, and improve the transportation efficiency of the unmanned mine car.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
Further, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Furthermore, functional modules in various embodiments of the present invention may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present invention and is not intended to limit the scope of the present invention, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A method of route planning for an unmanned mine car, applied to an unmanned mine car, the method comprising: acquiring the current position, a drivable area and first loading and unloading requirement information of the unmanned mine car; wherein the first loading and unloading requirement information is used for indicating a first loading position and a first unloading position; planning a first travel route according to the current position, the drivable area, the first loading position and the first unloading position; if the loading capacity corresponding to the first loading and unloading requirement information is smaller than the residual loading capacity of the unmanned mine car, acquiring second loading and unloading requirement information which is passed by the first driving route; wherein the second loading and unloading requirement information is used for indicating a second loading position; adjusting the first driving route according to the second loading and unloading requirement information to obtain a second driving route; wherein the second travel route passes through the second loading location;
The step of obtaining the second loading and unloading requirement information passed by the first driving route comprises the following steps: acquiring third loading and unloading requirement information; wherein the loading position indicated by the third loading and unloading requirement information is less than a first preset distance from the first travel route; determining the third loading and unloading requirement information as the second loading and unloading requirement information;
the step of obtaining the third loading and unloading requirement information comprises the following steps: acquiring a plurality of loading and unloading requirement information to be operated; wherein, each piece of to-be-operated loading and unloading material requirement information corresponds to a priority, and the loading position indicated by each piece of to-be-operated loading and unloading material requirement information is smaller than the first preset distance from the first driving route; determining the material loading and unloading requirement information to be operated with the highest priority in the material loading and unloading requirement information to be operated as the third material loading and unloading requirement information;
The step of obtaining the second loading and unloading requirement information passed by the first driving route comprises the following steps: if the current endurance mileage of the unmanned mine car is lower than the endurance threshold, acquiring fourth loading and unloading requirement information; the fourth loading and unloading requirement information is used for indicating the second loading position and the second unloading position, and the second unloading position is smaller than a second preset distance from the charging position of the unmanned mine car; determining the fourth loading and unloading requirement information as the second loading and unloading requirement information;
The step of obtaining the fourth loading and unloading requirement information comprises the following steps: acquiring a plurality of loading and unloading requirement information to be operated; the second unloading position is used for indicating the second loading position and the third unloading position, and the third unloading position indicated by the second unloading position is smaller than a second preset distance from the charging position of the unmanned mine car; and determining the to-be-operated loading and unloading requirement information with the shortest distance between the third unloading position and the charging position in the to-be-operated loading and unloading requirement information as the second loading and unloading requirement information.
2. A method of route planning for an unmanned mining vehicle according to claim 1, wherein the drivable region is determined by a work area and an obstacle location, the obstacle including other mining vehicles.
3. A method of route planning for an unmanned mining vehicle according to claim 2, wherein the step of adjusting the first travel route in accordance with the second loading and unloading requirement information to obtain a second travel route comprises: acquiring the driving routes of the other mine cars; and adjusting the first driving route according to the driving routes of the other mine cars and the second loading and unloading requirement information to obtain the second driving route.
4. A method of route planning for an unmanned mining vehicle according to claim 1, wherein the method further comprises: and driving the unmanned mine car to carry out loading and unloading operation according to the second driving route.
5. The route planning device for the unmanned mine car is characterized by being applied to the unmanned mine car and comprising an acquisition module and a planning module; the acquisition module is used for acquiring the current position, the drivable area and the first loading and unloading requirement information of the unmanned mine car; wherein the first loading and unloading requirement information is used for indicating a first loading position and a first unloading position; the planning module is used for planning a first driving route according to the current position, the driving area, the first loading position and the first unloading position; if the loading capacity corresponding to the first loading and unloading requirement information is smaller than the remaining loading capacity of the unmanned mine car, the acquisition module is further used for acquiring second loading and unloading requirement information through which the first driving route passes; wherein the second loading and unloading requirement information is used for indicating a second loading position; the planning module is also used for adjusting the first driving route according to the second loading and unloading requirement information to obtain a second driving route; wherein the second travel route passes through the second loading location;
The acquisition module is also used for acquiring third loading and unloading requirement information when acquiring second loading and unloading requirement information passing through the first driving route; wherein the loading position indicated by the third loading and unloading requirement information is smaller than the first preset distance from the first driving route, and the third loading and unloading requirement information is determined as the second loading and unloading requirement information;
The acquisition module is also used for acquiring a plurality of pieces of loading and unloading requirement information to be operated when acquiring the third loading and unloading requirement information; wherein, each piece of to-be-operated loading and unloading requirement information corresponds to a priority, and the loading position distance indicated by each piece of to-be-operated loading and unloading requirement information is smaller than a first preset distance from a first driving route; determining the material loading and unloading requirement information to be operated with the highest priority in the material loading and unloading requirement information to be operated as third material loading and unloading requirement information;
If the current endurance mileage of the unmanned mine car is lower than the endurance threshold, the acquisition module is further used for acquiring fourth loading and unloading requirement information; the fourth loading and unloading requirement information is used for indicating the second loading position and the second unloading position, and the second unloading position is smaller than a second preset distance from the charging position of the unmanned mine car; determining the fourth loading and unloading requirement information as second loading and unloading requirement information; the acquisition module is further used for acquiring a plurality of pieces of material loading and unloading requirement information to be operated, wherein each piece of material loading and unloading requirement information to be operated is used for indicating the second loading position and the third unloading position, and the third unloading position indicated by the material loading and unloading requirement information to be operated is smaller than a second preset distance from the charging position of the unmanned mine car; and determining the loading and unloading requirement information to be operated, which is the shortest in distance from the third unloading position to the charging position, in the loading and unloading requirement information to be operated as second loading and unloading requirement information.
6. An unmanned mining vehicle, comprising: a mine car; an unmanned unit; the unmanned aerial vehicle unit comprising a processor and a memory, the memory storing machine-readable instructions for executing the machine-readable instructions to implement the route planning method of the unmanned aerial vehicle of any of claims 1-4.
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