CN116359964A - Method for positioning loading position of unmanned mining truck - Google Patents
Method for positioning loading position of unmanned mining truck Download PDFInfo
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- CN116359964A CN116359964A CN202111618458.XA CN202111618458A CN116359964A CN 116359964 A CN116359964 A CN 116359964A CN 202111618458 A CN202111618458 A CN 202111618458A CN 116359964 A CN116359964 A CN 116359964A
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Abstract
The invention relates to a method for positioning a loading position of an unmanned mining truck, which comprises the following steps: storing, on the processor, a target model established for a loading device comprising a driving portion and an operating portion, the operating portion being rotatable relative to the driving portion about a vertical axis; before loading, detecting the position and orientation of the operating portion and determining its current angle relative to the driving portion, sending it as a first signal to the processor; the operator inputs instructions to enter the mine site and the desired loading angle and sends them as a second signal to the processor; and the processor calculates a required loading position based on the received first signal and the second signal and the parameters of the target model, and controls the unmanned mining truck to automatically drive to the loading position. Therefore, the loading position of the unmanned mining truck relative to the electric shovel can be accurately determined, and the loading efficiency is improved.
Description
Technical Field
The invention relates to a method for positioning a loading position of an unmanned mining truck.
Background
In mining a surface mine, mining trucks are typically used to shuttle material between a mining point and a discharge point. Loading a mining truck with material at a mining site using an excavator, such as a large electric shovel; after loading is completed, the mining truck conveys the loaded materials to a mine unloading point for unloading.
Large electric shovels are inconvenient to move because of large structures and high-voltage wires connected thereto during operation. In operation, it is often necessary to load a mining truck to a loading location near a large electric shovel, where the truck is simply rotated about its vertical axis to load material onto the mining truck. Thus, being able to accurately locate and reach a loading location is a problem currently being addressed for unmanned mining trucks. If the unmanned mining truck arrives at a wrong loading position, the loading of materials cannot be carried out, and therefore the working efficiency is low.
Disclosure of Invention
The present invention provides a method of locating a loading position of an unmanned mining truck, by which a loading device, such as an electric shovel, can be precisely located and oriented, and a loading position of the unmanned mining truck with respect to the electric shovel can be precisely determined, thereby improving loading efficiency.
According to an object of the present invention there is provided a method of locating a loading location of an unmanned mining truck, the method comprising:
-storing on a processor a target model established for a loading device for loading material for an unmanned mining truck, the loading device comprising a travelling portion and an operating portion, the operating portion being rotatable relative to the travelling portion about a vertical axis;
-before loading the unmanned mining truck, the loading device detects the position and orientation of the operating part and determines the current angle of the operating part with respect to the driving part, and sends the detected position, orientation and current angle as a first signal to the processor;
-an operator of the loading device inputs an instruction to enter the mine site and a desired loading angle and sends it as a second signal to the processor;
-the processor calculates a required loading position based on the received first and second signals and parameters of the target model and controls the automated travel of the unmanned mining truck to the loading position.
Through the detected position, orientation, current angle and parameters of a target model, namely geometric structure size, the accurate loading position of the unmanned mining truck can be obtained, so that the accurate loading of materials is realized, and the operation efficiency is improved.
In a preferred embodiment, the processor is installed in an unmanned mining truck and/or a background control. Thus, the unmanned mining truck can be controlled more flexibly.
In a preferred embodiment, the loading device detects the position and orientation of its operating portion by differential positioning in real time via the global navigation satellite system. The GPS real-time differential positioning can realize centimeter-level positioning detection, thereby obtaining more accurate position of the loading device.
In a preferred embodiment, the loading device is an electric shovel, the operating portion of which comprises at least a fuselage and a support arm, and the parameters of the object model comprise the length of the fuselage and the length of the support arm. The position and orientation of any location on the loading device may be determined based on the target model.
In a preferred embodiment, the loading angle is an angle of an operating portion of the loading device with respect to an initial position, which is a position of the operating portion in a forward traveling direction of the loading device, the loading angle being detectable by an encoder. By setting the initial position, a reference value can be set, whereby an optimum loading angle can be obtained simply.
In a preferred embodiment, the loading angle is between 90 ° and 270 °. The loading angle in this range can achieve convenient loading of the electric shovel.
In a preferred embodiment, the loading device is provided with a visual device which is able to receive the first signal for display and on which an instruction for the unmanned mining truck is able to be entered. The vision device can provide necessary information for the operator and receive the input of the operator, thereby realizing a simple operation.
In a preferred embodiment, the desired loading angle is a sum of a current angle of the operating portion with respect to the traveling portion and an adjustment angle visually judged by an operator. The operator can determine the optimal adjustment angle and adjust the adjustment based on the current angle, thereby obtaining the optimal loading angle.
In a preferred embodiment, the loading device is provided with an in-vehicle wireless communication section that receives the first signal and the second signal and transmits them to the processor. The wireless communication part for the vehicle realizes simple, convenient and reliable data transmission.
In a preferred embodiment, the processor is provided with a receiving device and a calculating device, the receiving device receives the first signal and the second signal from the vehicle wireless communication unit, and the calculating device obtains global coordinates of a loading position to be reached by the unmanned mining truck based on the target model stored in the processor and the first signal and the second signal received by the receiving device. Thus, the unmanned mining truck can calculate an accurate loading position.
In a preferred embodiment, the unmanned mining truck has a receiving unit that is capable of receiving instructions from a processor to enter a mine site and a loading location. By means of the receiving unit, the unmanned mining truck can automatically travel to the loading position after receiving an instruction for entering a mine site.
In a preferred embodiment, the unmanned mining truck emits a third signal after reaching the loading position to inform the unmanned mining truck that the loading position has been reached, which third signal can be displayed on a visual device or as an acoustic or optical signal. Other forms of signaling are of course conceivable to inform, for example, the operator that the unmanned mining truck is reaching the loading position. Therefore, the loading device can accurately acquire the loading time, and the working efficiency is improved.
In a preferred embodiment, after loading the unmanned mining truck, an operator of the loading device inputs an exit command from the mine site and sends the exit command to the processor, and the processor receives the exit command from the mine site and controls the unmanned mining truck to automatically travel away from the loading position. The unmanned mining truck can automatically leave the loading position after the loading is reliably completed, and the working efficiency is improved.
The method for positioning the loading position of the unmanned mining truck can accurately position the loading position of the unmanned mining truck, and can accurately load materials even if the loading posture has small deviation. Therefore, labor is saved, and efficiency is improved.
Drawings
The technical solution of the present invention will be further described by way of specific embodiments with reference to the accompanying drawings, but the present invention is not limited to these embodiments. What has been described herein is merely a preferred embodiment according to the present invention, and other ways of implementing the invention will occur to those skilled in the art on the basis of the preferred embodiment, and are intended to fall within the scope of the invention as well.
Fig. 1 shows a schematic diagram of a target model according to the invention.
Fig. 2 shows a flow chart of a method of locating a loading position of an unmanned mining truck according to the present invention.
Fig. 3A illustrates a signal transmission path of an unmanned mining truck as it enters a mine site in accordance with a method of locating a loading position of the unmanned mining truck in accordance with the present invention.
Fig. 3B illustrates a signal transmission path of an unmanned mining truck as it leaves a mine site in accordance with a method of locating a loading position of the unmanned mining truck in accordance with the present invention.
Detailed Description
The technical solution of the present invention will be further described by way of specific embodiments with reference to the accompanying drawings, but the present invention is not limited to these embodiments. What has been described herein is merely a preferred embodiment according to the present invention, and other ways of implementing the invention will occur to those skilled in the art on the basis of the preferred embodiment, and are intended to fall within the scope of the invention as well. For the drawings, directional terms, such as "upper", "lower", "left", "right", "front", "rear", etc., are used with reference to the orientation of the drawings as described. These directional terms are used for purposes of illustration and not limitation, as the components of embodiments of the present invention can be implemented in a variety of orientations.
Fig. 1 shows a schematic illustration of a loading device, which is embodied here, for example, as an electric shovel 1, the electric shovel 1 essentially comprising a travel section, for example a crawler chassis 2 for traveling on the ground, and an operating section, comprising a fuselage 3 supported on the crawler chassis 2 and a support arm 4 extending from the fuselage 3 on the front side of the fuselage 3, the support arm 4 being fixed to the fuselage 3, wherein the fuselage 3 can be rotated relative to the crawler chassis 2 about a vertical axis of rotation. A bucket is also supported by the support arm 4.
The crawler chassis 2 of the electric shovel 1 does not move when loading the mining truck with material, but the supporting arm 4 and the bucket are brought to the loading position of the mining truck by the rotation of the main body 3 around the vertical rotation axis, and the bucket is enabled to rotate around the connection point of the bucket and the supporting arm 4 by a wire rope connected with the bucket, thereby adjusting the loading height. In the case of an unmanned mining truck, the loading location where the unmanned mining truck is parked is therefore very important for whether the electric shovel can be accurately loaded.
According to the invention, the electric shovel 1 is equipped with a device for detecting the position and orientation of the fuselage 3 of the electric shovel 1, which can, for example, use the global navigation satellite system to differentially locate GNSS-RTKs in real time. The GNSS-RTK is capable of making measurements of centimeter-level positioning accuracy in real time, thereby obtaining very accurate positioning, for example global positioning, of the fuselage 3 of the electric shovel 1. The GNSS-RTK is preferably implemented here as a double antenna and is preferably mounted at the counterweight at the rear of the fuselage 3 of the electric shovel 1, which obtains the heading, including position and orientation, of the fuselage 3 from GPS information. Of course, other positioning devices are possible.
The loading device, for example the electric shovel 1, is mathematically modelled to obtain a target model, and parameters of the target model (for example the corresponding geometrical dimensions of the electric shovel, for example the length L2 of the fuselage 3 of the electric shovel 1 and the length L1 of the support arm, etc.) are stored in the processor. The processor may be located on the unmanned mining truck or in a background control device, and the processor may be capable of receiving and storing corresponding information and processing the received information to convert it into corresponding instructions and control the unmanned mining truck to perform corresponding actions. In addition, after the GNSS-RTK is disposed on the body of the electric shovel 1, the position of the GNSS-RTK with respect to various parts of the body of the electric shovel is also known. Thus, with the current position and orientation detected by the GNSS-RTK, the position and orientation of any part of the fuselage of the electric shovel 1 can be calculated.
The electric shovel 1 is also provided with an encoder which can set an initial position for the body of the electric shovel 1 and also can detect the current angle of the body of the electric shovel 1 relative to the crawler chassis 2. An absolute encoder is preferably used here.
The initial position of the body of the electric shovel 1 is usually set to an orientation of the operating portion (particularly the body) in the forward travel direction of the loading device, i.e., at which the relative angle of the body 3 to the crawler chassis 2 is 0 °. Here, the encoder is set to 0 corresponding to the initial position. Of course other initial positions are possible. In principle, the loading angle of an unmanned mining truck may be between 0 ° and 360 ° around the electric shovel. Typically, this initial position is set when the encoder is installed. The loading angle of the unmanned mining truck is preferably between 90 ° and 270 ° with respect to the crawler chassis 2 by the fuselage of the electric shovel 1.
The current attitude of the fuselage of the electric shovel 1 can thus also be derived accordingly by means of the above-described GNSS-RTKs and encoders.
The body of the electric shovel 1 is also provided with a visual device and a vehicle wireless communication unit V2X. The visual means and V2X are able to receive the position and orientation of the operating portion of the electric shovel 1, in particular the fuselage, detected by the GNSS-RTK and the current angle of the fuselage of the electric shovel 1 with respect to the crawler chassis 2, detected by the encoder. The visual device displays the information as a first signal to the operator of electric shovel 1, and V2X sends the information to a processor mounted on the background control device and/or on the unmanned mining truck. In addition, the operator can input instructions on the visual device, including, for example, entering the mine, leaving the mine, and the desired loading angle, etc. Here, the operator may obtain a desired loading angle by adding the current angle to the adjustment angle visually determined by the operator, for example, based on the current angle of the body of the electric shovel 1 with respect to the crawler chassis 2 displayed on the visual device. The angle of adjustment visually determined by the operator is understood herein to be the angle that the operator visually determines as appropriate for loading relative to the current position of the operator. Instructions entered by the operator on the visual device may also be sent as a second signal via V2X to a processor mounted on the background control device and/or the unmanned mining truck. It should be noted here that in a further embodiment, the vehicle wireless communication V2X can also be omitted, for example by the processor receiving the first signal directly from the GNSS-RTK and the second signal directly from the visual device.
V2X may transmit the first signal preferentially in time sequence or transmit the first signal and the second signal simultaneously. It is also conceivable to provide other transport means on the loading device.
The processor is provided with a receiving device and a calculating device. The receiving means are adapted to receive the first signal and the second signal, i.e. the position and orientation of the fuselage of the electric shovel 1 detected by the GNSS-RTK, the current angle of the fuselage of the electric shovel 1 with respect to the crawler chassis 2 detected by the encoder, the instructions entered by the operator on the visual means. The computing device is used for solving global coordinates of a loading position where the unmanned mining truck should reach based on the target model or parameters thereof stored in the processor and the first signal and the second signal received by the receiving device.
The mining vehicle has a receiving unit that receives a command from the processor to enter the mine site and the global coordinates of a loading location, which the mining vehicle is to reach, determined by the processor, and the mining vehicle automatically travels to the loading location based on the information.
In another embodiment, the operator input command to enter the mine site may also be received directly from the visual device or the vehicle wireless communication unit V2X by the receiving unit of the unmanned mining truck.
Fig. 2 illustrates a method of locating a loading location for an unmanned mining truck in accordance with the present invention. Fig. 3A illustrates a signal transmission path of an unmanned mining truck entering a mine site in a method of locating a loading position of the unmanned mining truck according to the present invention. Fig. 3B illustrates a signal transmission path of an unmanned mining truck when it leaves a mine site in a method of locating a loading position of the unmanned mining truck according to the present invention.
In step S1, a target model established for a loading device loading material for an unmanned mining truck is stored on the processor.
In step S2, before loading the unmanned mining truck, the loading position detects the position and orientation of its operating portion and determines the current angle of the operating portion with respect to the traveling portion, and sends the detected position, orientation, and current angle as a first signal to the processor.
Specifically, before loading material on the unmanned mining truck by the electric shovel 1, the position and orientation of the operating portion of the electric shovel 1, specifically the body 3, is detected by the global navigation satellite system real-time differential positioning GNSS-RTK provided on the electric shovel 1 and the current angle of the body of the electric shovel 1 with respect to the crawler chassis 2 is detected by the encoder provided on the body 3 of the electric shovel 1, which is sent as a first signal to the processor.
In a preferred embodiment, in this step S2, the first signal may be sent to a visual device on the electric shovel 1 and to the vehicle wireless communication V2X, the first signal being transmitted to the processor via V2X.
In step S3, the operator of the loading device inputs the instructions to enter the mine and the desired loading angle and sends this as a second signal to the processor.
In a particular embodiment, the visual means on the electric shovel 1 may display the received first signal to an operator on the electric shovel 1 for reference and use by the operator. The operator visually judges the angle of the unmanned mining truck suitable for loading relative to the operator itself as an adjustment angle, and adds the current angle to the adjustment angle based on the current angle of the body of the electric shovel 1 relative to the crawler chassis 2 displayed on the visual device to obtain a desired loading angle. When it is desired for the unmanned mining truck to enter the mine site, the operator enters an instruction on the visual device to cause the unmanned mining truck to enter the mine site and simultaneously or subsequently enters the desired loading angle. The vision device transmits the operator entered instruction and the desired loading angle as a second signal to the processor.
Preferably, in step S3, the second signal is sent to V2X, and V2X transmits the received second signal to the processor.
Alternatively, V2X may not transmit the received first signal to the processor in step S2, and then transmit the first signal and the second signal to the processor together in step S3.
In step S4, after the processor receives the first signal and the second signal, a loading position where the unmanned mining truck should be parked is calculated based on the parameters of the target model stored in the processor and the first signal and the second signal, and the position is a global positioning position.
The processor then controls the entry of the unmanned mining truck into the mine site and automatically travels to the calculated loading location based on the received instructions to enter the mine site and the calculated loading location.
Alternatively, the unmanned mining truck may also receive instructions to enter the mine site directly from the visual device or V2X through the receiving unit. The unmanned mining truck is then automatically driven to the calculated loading position after receiving the calculated loading position from the processor by the receiving unit based on the received command to enter the mine site.
In step S5, a third signal is sent to the operator and/or visual device to inform the unmanned mining truck that the loading position has been reached after the unmanned mining truck has reached the loading position. The third signal may be displayed on the visual device as a display signal, or may be an acoustic signal, an optical signal, and any available signal.
The operator or electric shovel 1, upon receiving the third signal, may perform a task of loading the unmanned mining truck with material.
After loading is complete, in step S6, the operator may send the instructions to leave the mine site by inputting them on a visual device and sending them to a processor or to an unmanned mining truck via V2X. The unmanned mining truck may automatically travel away from the mine site when it receives an instruction to leave the mine site.
According to the method for positioning the loading position of the unmanned mining truck, the relative position and the relative orientation of the unmanned mining truck relative to the loading device can be accurately positioned (in centimeter level), so that the accurate loading of the unmanned mining truck by the electric shovel 1 is realized, and the loading efficiency and the operating efficiency are improved.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Various modifications, additions, or substitutions can be made to the described embodiments by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (13)
1. A method of locating a loading location of an unmanned mining truck, the method comprising:
-storing on a processor a target model established for a loading device for loading material for an unmanned mining truck, the loading device comprising a travelling portion and an operating portion, the operating portion being rotatable relative to the travelling portion about a vertical axis;
-before loading the unmanned mining truck, the loading device detects the position and orientation of the operating part and determines the current angle of the operating part with respect to the driving part, and sends the detected position, orientation and current angle as a first signal to the processor;
-an operator of the loading device inputs an instruction to enter the mine site and a desired loading angle and sends it as a second signal to the processor;
-the processor calculates a required loading position based on the received first and second signals and parameters of the target model and controls the automated travel of the unmanned mining truck to the loading position.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the processor is installed in an unmanned mining truck and/or a background control device.
3. A method according to claim 1 or 2, characterized in that,
the loading device detects the position and the orientation of an operation part of the loading device through real-time differential positioning of a global navigation satellite system.
4. A method according to claim 1 or 2, characterized in that,
the loading device is an electric shovel, the operating part of which comprises at least a fuselage (3) and a supporting arm (4), the parameters of the target model comprising the length (L2) of the fuselage and the length (L1) of the supporting arm (4).
5. A method according to claim 1 or 2, characterized in that,
the loading angle is an angle of an operating portion of the loading device with respect to an initial position, which is a position of the operating portion in a forward traveling direction of the loading device, and the loading angle of the loading device can be detected by an encoder.
6. The method of claim 5, wherein the step of determining the position of the probe is performed,
the loading angle is between 90 ° and 270 °.
7. A method according to claim 1 or 2, characterized in that,
the loading device is provided with a visual device capable of receiving and displaying the first signal and capable of receiving instructions for the unmanned mining truck.
8. The method of claim 7, wherein the step of determining the position of the probe is performed,
the desired loading angle is a sum of a current angle of the operating portion with respect to the traveling portion and an adjustment angle visually judged by an operator.
9. A method according to claim 1 or 2, characterized in that,
the loading device is provided with a vehicle wireless communication part, and the vehicle wireless communication part receives the first signal and the second signal and sends the first signal and the second signal to the processor.
10. The method of claim 9, wherein the step of determining the position of the substrate comprises,
the processor is provided with a receiving device and a calculating device, the receiving device is used for receiving the first signal and the second signal from the vehicle wireless communication part, and the calculating device is used for solving the global coordinates of the loading position where the unmanned mining truck should reach based on the target model stored in the processor and the first signal and the second signal received by the receiving device.
11. The method of claim 10, wherein the step of determining the position of the first electrode is performed,
the unmanned mining truck has a receiving unit that is capable of receiving instructions from a processor into a mine site and a loading location.
12. A method according to claim 1 or 2, characterized in that,
a third signal is emitted after the unmanned mining truck has arrived in the loading position to inform the unmanned mining truck that the loading position has been reached, which third signal can be displayed on a visual device or as an acoustic or optical signal.
13. A method according to claim 1 or 2, characterized in that,
after loading the unmanned mining truck, an operator of the loading device inputs an instruction for leaving the mine site and sends the instruction to the processor, and the processor receives the instruction for leaving the mine site and then controls the unmanned mining truck to automatically drive away from the loading position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111618458.XA CN116359964A (en) | 2021-12-27 | 2021-12-27 | Method for positioning loading position of unmanned mining truck |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111618458.XA CN116359964A (en) | 2021-12-27 | 2021-12-27 | Method for positioning loading position of unmanned mining truck |
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