CN117055554A - Method and system for distributing unloading points in unloading area of surface mine - Google Patents
Method and system for distributing unloading points in unloading area of surface mine Download PDFInfo
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Abstract
The invention belongs to the technical field of engineering transportation, intelligent mine and automatic driving, and comprises the steps of collecting map boundaries to generate unloading points and receiving an entrance application of an unmanned mine card; screening available unloading points according to equipment information of the unmanned mining cluster scheduling system; and selecting proper unloading points according to the geometric shape of the unloading area and the occupation condition of the unloading points based on the screened available unloading points. The invention solves the problem of automatic allocation of unloading points supporting multi-vehicle unloading in an unmanned mine unloading area, belongs to subdivision tasks, and ensures the high efficiency and safety of collaborative operation of unmanned mining cards and manual driving bulldozers.
Description
Technical Field
The invention belongs to the technical fields of engineering transportation, intelligent mines and automatic driving, and particularly relates to a method for distributing unloading points in the unloading process of an unmanned mining truck.
Background
In recent years, unmanned techniques have been widely put into practical use in application fields such as mines. The unmanned mining truck (unmanned mining truck for short) can reduce the manual demands of key production links on surface mines such as stripping, loading, unloading, transportation and the like, and realize efficient coordination among the production links. Meanwhile, the problems that a driver of the mining truck needs to face noise, floating dust, vibration and the like for a long time can be solved; on the other hand, the safety production accidents caused by the artificial factors in the related links are reduced and even stopped, the labor and vehicle maintenance cost of drivers is reduced, and the overall operation efficiency of the mine is improved.
In the scenario of the unloading process of the unmanned mining card, the unloading points where the unloading operation is to be performed need to be allocated in advance, so as to provide the end points of the planned route for the unmanned path planning module. Specifically, the unmanned mining card needs to obtain the pose of the unloading point (i.e., the geographic position information of the unloading point and the pose that the vehicle should maintain when unloading at the point) before entering the unloading site, and then obtain the driving route of the unloading area, including the entrance route and the exit route of the vehicle. The unmanned mine truck runs from an entrance of the unloading site to the unloading point along the entrance route, and after the unloading process of the bucket lifting, unloading and falling is completed, the unmanned mine truck runs to an exit of the unloading site along the exit route, so that the unmanned mine truck completes a complete unloading process.
There are a number of constraints to consider when assigning the unload points: first, the number of available unloading points is limited. The unloading point is usually a position point perpendicular to the boundary retaining wall on the boundary of the unloading area, and the mine clamp needs to be backed up to be abutted against the retaining wall to unload the materials to the outside of the retaining wall. After a certain number of unloading operations, the unloading condition of one point is no longer provided, and the bulldozer is required to trim. Second, when there is bulldozer work in the unloading area, unloading points that the bulldozer interferes with should not be assigned to unmanned mining cards. In addition, when a plurality of unmanned mining cards enter an unloading area simultaneously to carry out unloading operation, cooperation among the plurality of unmanned mining cards is considered, so that the unloading efficiency is improved.
Disclosure of Invention
The present invention has been made in view of the above-described problems occurring in the prior art. The original unloading point selection algorithm is particularly aimed at an unloading area of an unmanned mine, and reasonable allocation of unloading points of unmanned mine cards can be automatically completed under the condition of no manual intervention; the bulldozer working flow of the unloading area of the surface mine is considered; the requirement of cooperative unloading of multiple vehicles is considered.
Thus, a method of surface mine unloading area allocation unloading points is provided.
In order to solve the technical problems, the invention provides a method for allocating unloading points to an unloading area of an open pit mine, which comprises the following steps:
collecting a map boundary to generate unloading points, and receiving an entrance application of an unmanned mine card; screening available unloading points according to equipment information of the unmanned mining cluster scheduling system; and selecting proper unloading points according to the geometric shape of the unloading area and the occupation condition of the unloading points based on the screened available unloading points.
As a preferred embodiment of the method for allocating unloading points to an unloading area of a surface mine according to the present invention, wherein: the step of generating the unloading points comprises the steps of calculating the interval distance of the unloading points according to the acquired data, and calculating the direction angle of the unloading points, wherein the specific steps are as follows:
randomly generating an unloading point on the boundary of the unloading area, taking the initial unloading point as a starting point, calculating the position of the next unloading point along the direction of the interval of the unloading points, and rotating a certain angle along the direction perpendicular to the boundary of the map to obtain the direction angle of the next unloading point:
calculating the included angle between the starting point and the map boundary:
α＝tan -1 (origin ordinate/origin abscissa)
Calculating an angle corresponding to the unloading point interval:
β＝tan -1 (unloading Point spacing/length of map boundary)
Calculating the direction angle of the unloading point:
γ＝α+β
comparing the calculated unloading point coordinates with the unloading area boundary, and when the unloading points exceed the boundary, adjusting the positions of the unloading points to enable the unloading points to be positioned on the unloading area boundary, and repeatedly calculating the direction angles until a sufficient number of unloading points are generated.
As a preferred embodiment of the method for allocating unloading points to an unloading area of a surface mine according to the present invention, wherein: the available unloading points comprise unloading points with unavailable times of screening, bulldozer interference unloading points with the screened-out operation, and screening specified screening of the surface mine, wherein the screening unloading points comprise retaining wall collapse.
The unloading points without the usable times comprise the upper limit times of the unloading points, the usable times are reduced after each time the unmanned mining card successfully finishes unloading, the bulldozer enters the field to trim when the usable times are reduced to 0, and the unloading points with the usable times of 0 of the unloading points are screened out when the usable unloading points are screened out.
As a preferred embodiment of the method for allocating unloading points to an unloading area of a surface mine according to the present invention, wherein: the bulldozer disturbance unloading point comprises a first safety distance value S 1 And a second safe distance value S 2 ：
When Q is post ≤S 1 And when the unloading point is deleted, the unloading point is automatically deleted.
When Q is post >S 1 But Q is min ≤S 2 At this time, the unloading point is screened out.
When Q is post >S 1 And Q is min >S 2 And when the unloading point is reserved and is distributed to the unmanned mining card for unloading.
Wherein Q is post Positioning distance Q for loading point to bulldozer min The nearest point distance from the bulldozer on the entrance/exit route of the unloading area where the unloading point is located.
As a preferred embodiment of the method for allocating unloading points to an unloading area of a surface mine according to the present invention, wherein: when the proper unloading point selection comprises the allocation of the unloading point, the unmanned mine cards entering the front and back are set to keep a safe distance of 15 meters, and the unloading point is allocated according to the allocation method.
The geometric shape comprises that when a plurality of vehicles are unloaded, the unmanned mining cards run along the boundary of the area in an annular route, collision between the entering vehicles and the exiting vehicles is reduced, and unloading points distributed by the unmanned mining cards entering the rear are close to the entering points on the boundary of the area.
As a preferred embodiment of the method for allocating unloading points to an unloading area of a surface mine according to the present invention, wherein: the occupation condition of the unloading points comprises the steps of identifying the movable unloading point quantity shunting vehicles which use the dynamic strategy to increase the unloading area by using the frequent unloading points according to the collected data, and monitoring the use condition of the unloading points in real time and the adjusted effect in the process of implementing the dynamic strategy.
As a preferred embodiment of the method for allocating unloading points to an unloading area of a surface mine according to the present invention, wherein: the distribution method comprises the steps of sorting available unloading points according to the distance from an unloading area to an unloading area outlet point along a boundary view angle, storing the available unloading points in a list, maintaining all the distributed unloading point sets S and unloading points p distributed for the last time, traversing the tail part of the list from the unloading points p distributed for the last time when an unmanned mining machine group receives a new entrance request of an unmanned mining card, and comparing Euclidean distance between each traversed point and the points in all the distributed unloading point sets S:
and when the distance is smaller than the safety distance, continuing to search backwards, otherwise, outputting the current unloading point, and when the current unloading point is output, sending an entrance route and an exit route corresponding to the current unloading point to an unmanned mine card entrance in the application by unmanned mine cluster scheduling.
When searching to the tail of the list, starting searching from the head, when traversing the list and still not outputting unloading points, outputting a null value to indicate that the allocation fails, and stopping the unmanned mining card to wait outside the unloading area and applying for the unloading points again after a specified time interval.
Another object of the present invention is to provide a system for allocating unloading points to an unloading area of an open pit mine, wherein a cluster scheduling module allocates the unloading points according to a vehicle entrance sequence and an unloading point candidate list to realize high automation and improve unloading efficiency; the unloading point distribution module distributes different vehicles to different unloading points according to the screening result, so that conflicts among the vehicles are reduced; can be easily integrated with other related systems, such as a vehicle dispatching system and a mine card monitoring system; the system can continuously optimize the unloading strategy by collecting and analyzing the related data of the vehicle and the unloading point, improve the unloading efficiency, and dynamically adjust the unloading point according to the actual running condition so as to cope with different scenes and demands.
The system for distributing unloading points to the unloading areas of the surface mine is characterized by comprising a map boundary acquisition module, a cluster scheduling module, an unloading point screening module and an unloading point distribution module.
And the map boundary acquisition module is used for completing the acquisition of map boundaries by the image acquisition equipment.
And the cluster scheduling module is used for creating and updating the map of the unloading area to generate unloading points and receiving an entrance application of the unmanned mining card.
And the unloading point screening module screens available unloading points according to the equipment information provided by the unmanned mining cluster scheduling system.
And the unloading point distribution module selects a proper unloading point position from available unloading points according to actual conditions.
A computer device comprising a memory and a processor, said memory storing a computer program, characterized in that said processor, when executing said computer program, implements the steps of a method according to the unloading point of an area of unloading of a surface mine.
A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of a method according to the unloading point of an unloading area allocation of an open pit mine.
The invention has the beneficial effects that: the method for distributing unloading points comprises an original unloading point selection algorithm, and particularly aims at an unloading area of an unmanned mine, so that reasonable distribution of unloading points of unmanned mining cards can be automatically completed under the condition of no manual intervention; the method considers the working flow of the bulldozer in the unloading area of the surface mine, and ensures the high efficiency and safety of the collaborative operation of the unmanned mining card and the manually driven bulldozer; the method considers the requirement of multi-vehicle cooperative unloading and ensures the high efficiency and safety of the multi-unmanned mining cards during simultaneous unloading.
Drawings
For a clearer description of the technical solutions of embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
fig. 1 is a schematic flow chart of a method for allocating unloading points to unloading areas of a surface mine according to an embodiment of the present invention.
Fig. 2 is a distribution flow chart of a method for distributing unloading points to unloading areas of a surface mine according to an embodiment of the present invention.
Fig. 3 is a diagram of distribution of unloading points in a method for distributing unloading points in an unloading area of a surface mine according to an embodiment of the present invention.
Fig. 4 is a view of a trip point list traversal of a method for allocating trip points to a strip mine trip point according to one embodiment of the present invention.
Fig. 5 is a schematic workflow diagram of a system for allocating unloading points to unloading areas of a surface mine according to an embodiment of the present invention.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
While the embodiments of the present invention have been illustrated and described in detail in the drawings, the cross-sectional view of the device structure is not to scale in the general sense for ease of illustration, and the drawings are merely exemplary and should not be construed as limiting the scope of the invention. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Also in the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper, lower, inner and outer", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first, second, or third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected, and coupled" should be construed broadly in this disclosure unless otherwise specifically indicated and defined, such as: can be fixed connection, detachable connection or integral connection; it may also be a mechanical connection, an electrical connection, or a direct connection, or may be indirectly connected through an intermediate medium, or may be a communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1, a method for allocating unloading points in an unloading area of a surface mine is provided according to a first embodiment of the present invention, including:
s1: and collecting map boundaries to generate unloading points, and receiving an entrance application of the unmanned mine card.
Furthermore, after the collection of the map boundary is completed by the image collection equipment, the unmanned mining cluster scheduling system builds or updates the map of the unloading area, and then uniformly generates unloading points on the unloading boundary baffle wall at certain intervals (for example, 10 meters). The geographic position of the generated unloading point is located on the boundary of the unloading area, and the gesture (namely the corresponding direction when the mining card runs to the unloading point) is expressed as a direction angle perpendicular to the boundary of the map.
It should be noted that, when the unmanned mining card travels to the road before the entrance of the unloading area, the application for entering the unloading area will be proposed from the unmanned mining cluster dispatching system, and then the unloading point allocation method will try to allocate the unloading point for the unmanned mining card.
It should also be noted that, according to the acquired data, the distance between the unloading points is calculated, and the direction angle of the unloading points is calculated, specifically as follows:
randomly generating an unloading point on the boundary of the unloading area, taking the initial unloading point as a starting point, calculating the position of the next unloading point along the direction of the interval of the unloading points, and rotating a certain angle along the direction perpendicular to the boundary of the map to obtain the direction angle of the next unloading point:
calculating the included angle between the starting point and the map boundary:
α＝tan -1 (origin ordinate/origin abscissa)
Calculating an angle corresponding to the unloading point interval:
β＝tan -1 (unloading Point spacing/length of map boundary)
Calculating the direction angle of the unloading point:
γ＝α+β
comparing the calculated unloading point coordinates with the unloading area boundary, and when the unloading points exceed the boundary, adjusting the positions of the unloading points to enable the unloading points to be positioned on the unloading area boundary, and repeatedly calculating the direction angles until a sufficient number of unloading points are generated.
S2: and screening available unloading points according to the equipment information of the unmanned mining cluster scheduling system.
Furthermore, in the unmanned mining cluster scheduling system, mine staff can set the upper limit unloading times of unloading points, the unloading times of the corresponding unloading points are correspondingly reduced along with each time the unmanned mining cards successfully complete unloading, and when the available times of the unloading points are reduced to 0, the unmanned mining cluster scheduling system informs bulldozers of entering and trimming, and meanwhile, the available unloading points need to be screened out when the available unloading points are screened out.
When a bulldozer is working in the unloading area, the unloading points are screened, and the unloading points interfered by the working bulldozer are screened. Setting a first safe distance value S 1 And a second safe distance value S 2 : when Q is post ≤S 1 When the unloading point is deleted, the unloading point is automatically deleted; when Q is post >S 1 But Q is min ≤S 2 Screening off unloading points during the process; when Q is post >S 1 And Q is min >S 2 When the unloading points are reserved and distributed to the unmanned mining cards for unloading; wherein Q is post Positioning distance Q for loading point to bulldozer min The nearest point distance from the bulldozer on the entrance/exit route of the unloading area where the unloading point is located.
It should also be noted that other conditions fed back by the unmanned mining cluster scheduling system can cause the unloading points to be screened out during screening, for example, mine card laser radar detects collapse of the unloading point retaining wall and the like. The rules of the screening process can be flexibly formulated based on the requirements of the surface mine.
S3: and selecting proper unloading points according to the geometric shape of the unloading area and the occupation condition of the unloading points based on the screened available unloading points.
Furthermore, as long as the unloading point selected for the unmanned mining card is an available unloading point, the unmanned mining card can finish the unloading operation; thus, in the step of selecting the unloading point, the targets of interest are rationality of the unloading point selection and comprehensive unloading work efficiency; first, consider the above-described feature of the unloading point having the number of available times, i.e., the need for the bulldozer to enter the unloading area for the unloading operation after the unloading point is full. In order to reduce the number of times of entering operations of the bulldozer, each unloading point is fully utilized, and one of the optimization targets of the unloading point distribution method is to uniformly use each unloading point.
It should be noted that, according to the collected data, the mobile unloading point number distribution vehicles using the dynamic strategy of frequent unloading point use to increase the unloading area are identified, and in the process of implementing the dynamic strategy, the use condition of the unloading points is monitored in real time, and the effect after adjustment is achieved.
It should also be noted that, considering that the unloading area needs to realize the cooperative unloading of multiple vehicles, that is, more than one unmanned mine card is in the unloading area to perform the unloading operation at the same time, the unloading point allocation method of the invention also optimizes the unloading efficiency of multiple vehicles. When the unloading points are distributed, the safety distance of 15 meters is kept by the unmanned mine cards entering the front and back of the unloading points, and the unloading points are distributed according to a distribution method.
When a plurality of unmanned mining cards are unloaded, the unmanned mining cards travel along the boundary of the area in a circular route, and when a plurality of unmanned mining cards simultaneously carry out unloading operation, the unmanned mining cards can be distributed to different unloading points in order to avoid collision among the unmanned mining cards. According to the entering sequence, the unmanned mining cards of the first entering are distributed to unloading points far away from the center of the unloading area, and then the unmanned mining cards of the second entering are distributed to unloading points near to the center of the unloading area.
It should be further noted that, the available unloading points are sorted according to the distance from the unloading area exit point along the boundary view angle, and stored in a list, all the unloading point sets S allocated out and the unloading point p allocated out last time are maintained, when the unmanned mining machine group receives a new request for entering an unmanned mining card, the tail part of the list is traversed from the unloading point p allocated out last time, and the euclidean distance between each traversed point and the point in all the unloading point sets S allocated out is compared:
if the distance is smaller than the safety distance, continuing to search backwards, otherwise outputting a current unloading point, and when the current unloading point is output, sending an entrance route and an exit route corresponding to the current unloading point to an unmanned mine card entrance in the application by unmanned mine cluster scheduling; when searching to the tail of the list, starting searching from the head, when traversing the list and still not outputting unloading points, outputting a null value to indicate that the allocation fails, and stopping the unmanned mining card to wait outside the unloading area and applying for the unloading points again after a specified time interval.
Example 2
Referring to fig. 2-4, a method of assigning unloading points to an unloading area of a surface mine is provided for one embodiment of the present invention, and scientific demonstration is performed through experiments in order to verify the beneficial effects of the present invention.
After the acquisition of map boundaries is completed by the image acquisition equipment, the unmanned mining cluster scheduling system builds a map of an unloading area, and then uniformly generates unloading points on an unloading boundary baffle wall at intervals of 10 meters; when the unmanned mining cards travel to the road before entering the unloading area, an application for entering the unloading area is put forward from the unmanned mining cluster dispatching system, and the allocation method tries to allocate unloading points for the unmanned mining cards.
When the positioning distance between the unloading point and the bulldozer is smaller than 25 meters of the first safety distance or the distance between the closest point on the unloading area entrance/exit route corresponding to a certain unloading point and the bulldozer is smaller than 10 meters of the second safety distance, the unloading point is screened out during screening.
After the safe distance is implemented to select the unloading point p3 for the current vehicle as shown in fig. 3, the following vehicle should take precedence over p1, p2 which are closer to the entry point pin along the boundary view than p4.
The allocation method is that the unloading point 3 and the unloading point 5 are occupied, and the point allocated for the last time is the unloading point 5 as shown in fig. 4; when the new application arrives, traversing to an unloading point 6, and continuing traversing when the new application is too close to the unloading point 5; traversing to an unloading point 1, meeting output conditions, and distributing the unloading point 1; when the new application arrives, traversing the unloading points of the whole list which do not meet the output condition, returning to the unloading point 1, and outputting null values.
The specific implementation process is as follows:
TABLE 1
| Unmanned mine card | Unloading point numbering | Number of uninstallations | Is interfered by bulldozer | Entrance route | Exit route |
| 1 | P1 | 5 | Whether or not | Path A | Path B |
| 2 | P3 | 3 | Whether or not | Path C | Path D |
| 3 | P6 | 10 | Is that | ||
| 4 | P8 | 7 | Whether or not | Path E | Path F |
| 5 | P10 | 6 | Whether or not | Path G | Path H |
The unmanned mining card 1 applies for entering an unloading area to an unmanned mining cluster dispatching system; screening out currently available unloading points: p1, P2, P4, P5.
The unloading point distribution method selects a proper unloading point P1 for the unmanned mining card 1 according to the geometric shape of the unloading area and the occupation condition of other unloading points; the unmanned mining cluster scheduling module sends an entrance route path A and an exit route path B corresponding to the unloading point P1 to the unmanned mining card 1; the ore card 1 moves to an unloading point P1 according to the path A; the unmanned ore card 1 performs unloading operation at the unloading point P1, the ore card finishes the unloading operation, and leaves the unloading point P1 according to the path B.
The unmanned mining card 2 puts forward an application for entering an unloading area to an unmanned mining cluster dispatching system; screening out currently available unloading points: p2, P3, P5.
The unloading point distribution method selects a proper unloading point P3 for the unmanned mining card 2 according to the geometric shape of the unloading area and the occupation condition of other unloading points; the unmanned mining cluster scheduling module sends an entrance route path C and an exit route path D corresponding to the unloading point P3 to the unmanned mining card 2; the unmanned mining card 2 runs to an unloading point P3 according to the path C; the unmanned mining card 2 performs unloading operation at an unloading point P3; the unmanned mining card 2 completes the unloading operation and leaves the unloading point P3 according to the path D.
The unmanned mining cards 3 are interfered by the bulldozer to select unloading points 6, when all the unloading points are occupied, the unmanned mining cards are stopped and waited after traversing, the entering application is continuously sent after 1 minute intervals, when the waiting time is too long and the unmanned mining cards do not receive the entering response, the unmanned mining cluster dispatching system increases the number of the mobile unloading points of the unloading area to split vehicles.
TABLE 2
| Unloading point mine card control rate | Unloading point allocation efficiency | Safety of | |
| Traditional unloading method | 67％ | 75％ | 74％ |
| The unloading method of the invention | 89％ | 95％ | 93％ |
According to the experimental result, the unloading efficiency of the unmanned mining card is obviously improved, the collision of the entering vehicles and the exiting vehicles which usually occur does not occur, each unloading point is uniformly used, and mining area congestion caused by a bulldozer and the number of times of the available unloading points is effectively avoided, and the problems of overlong waiting time and safety are solved.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Example 3
A third embodiment of the present invention, which is different from the first two embodiments, is:
the functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Example 4
Referring to fig. 5, a surface mine unloading area distribution unloading point system is provided according to a fourth embodiment of the present invention, which includes a map border acquisition module, a cluster scheduling module, an unloading point screening module, and an unloading point distribution module.
And the map boundary acquisition module completes the acquisition of map boundaries by a map acquisition device.
And the cluster scheduling module establishes and updates the map of the unloading area to generate unloading points and receives an entrance application of the unmanned mining card.
And the unloading point screening module screens available unloading points according to the equipment information provided by the unmanned mining cluster scheduling system.
And the unloading point distribution module selects a proper unloading point from available unloading points according to actual conditions.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (10)
1. A method of assigning an unloading point to an unloading area of a surface mine, comprising: comprising the steps of (a) a step of,
collecting a map boundary to generate unloading points, and receiving an entrance application of an unmanned mine card;
screening available unloading points according to equipment information of the unmanned mining cluster scheduling system;
and selecting proper unloading points according to the geometric shape of the unloading area and the occupation condition of the unloading points based on the screened available unloading points.
2. A method of assigning unloading points to an unloading area of a surface mine as defined in claim 1, wherein: the step of generating the unloading points comprises the steps of calculating the interval distance of the unloading points according to the acquired data, and calculating the direction angle of the unloading points, wherein the specific steps are as follows:
randomly generating an unloading point on the boundary of the unloading area, taking the initial unloading point as a starting point, calculating the position of the next unloading point along the direction of the interval of the unloading points, and rotating a certain angle along the direction perpendicular to the boundary of the map to obtain the direction angle of the next unloading point:
calculating the included angle between the starting point and the map boundary:
α＝tan -1 (origin ordinate/origin abscissa)
Calculating an angle corresponding to the unloading point interval:
β＝tan -1 (unloading Point spacing/length of map boundary)
Calculating the direction angle of the unloading point:
γ＝α+β
comparing the calculated unloading point coordinates with the unloading area boundary, and when the unloading points exceed the boundary, adjusting the positions of the unloading points to enable the unloading points to be positioned on the unloading area boundary, and repeatedly calculating the direction angles until a sufficient number of unloading points are generated.
3. A method of assigning unloading points to an unloading area of a surface mine as defined in claim 2, wherein: the available unloading points comprise unloading points with unavailable times of screening, bulldozer interference unloading points with the screened objects, retaining wall collapse of the screening unloading points and specified screening of the surface mine;
the unloading points without the usable times comprise the upper limit times of the unloading points, the usable times are reduced after each time the unmanned mining card successfully finishes unloading, the bulldozer enters the field to trim when the usable times are reduced to 0, and the unloading points with the usable times of 0 of the unloading points are screened out when the usable unloading points are screened out.
4. A method of assigning unloading points to an unloading area of a surface mine as defined in claim 3, wherein: the bulldozer disturbance unloading point comprises a first safety distance value S 1 And a second safe distance value S 2 ：
When Q is post ≤S 1 When the unloading point is deleted, the unloading point is automatically deleted;
when Q is post >S 1 But Q is min ≤S 2 Screening off unloading points during the process;
when Q is post >S 1 And Q is min >S 2 When the unloading points are reserved and distributed to the unmanned mining cards for unloading;
wherein Q is post Positioning distance Q for loading point to bulldozer min The nearest point distance from the bulldozer on the entrance/exit route of the unloading area where the unloading point is located.
5. A method of assigning unloading points to an unloading area of a surface mine as defined in claim 4, wherein: when the selection of the proper unloading points comprises the allocation of the unloading points, setting a safety distance of 15 meters between the front and back entering unmanned mine cards, and allocating the unloading points according to an allocation method;
the geometric shape comprises that when a plurality of vehicles are unloaded, the unmanned mining cards run along the boundary of the area in an annular route, collision between the entering vehicles and the exiting vehicles is reduced, and unloading points distributed by the unmanned mining cards entering the rear are close to the entering points on the boundary of the area.
6. A method of assigning unloading points to an unloading area of a surface mine as defined in claim 5, wherein: the occupation condition of the unloading points comprises the steps of identifying the movable unloading point quantity shunting vehicles which use the dynamic strategy to increase the unloading area by using the frequent unloading points according to the collected data, and monitoring the use condition of the unloading points in real time and the adjusted effect in the process of implementing the dynamic strategy.
7. A method of assigning unloading points to an unloading area of a surface mine as defined in claim 6, wherein: the distribution method comprises the steps of sorting available unloading points according to the distance from an unloading area to an unloading area outlet point along a boundary view angle, storing the available unloading points in a list, maintaining all the distributed unloading point sets S and unloading points p distributed for the last time, traversing the tail part of the list from the unloading points p distributed for the last time when an unmanned mining machine group receives a new entrance request of an unmanned mining card, and comparing Euclidean distance between each traversed point and the points in all the distributed unloading point sets S:
if the distance is smaller than the safety distance, continuing to search backwards, otherwise outputting a current unloading point, and when the current unloading point is output, sending an entrance route and an exit route corresponding to the current unloading point to an unmanned mine card entrance in the application by unmanned mine cluster scheduling;
when searching to the tail of the list, starting searching from the head, when traversing the list and still not outputting unloading points, outputting a null value to indicate that the allocation fails, and stopping the unmanned mining card to wait outside the unloading area and applying for the unloading points again after a specified time interval.
8. A system employing a method of assigning unloading points to an unloading area of a surface mine as defined in any one of claims 1 to 7, characterized in that: the system comprises a map boundary acquisition module, a cluster scheduling module, an unloading point screening module and an unloading point distribution module;
the map boundary acquisition module is used for completing the acquisition of map boundaries by a map acquisition device;
the cluster scheduling module is used for creating and updating a map of the unloading area to generate unloading points and receiving an entrance application of the unmanned mining card;
the unloading point screening module screens available unloading points according to equipment information provided by the unmanned mining cluster scheduling system;
and the unloading point distribution module selects a proper unloading point position from available unloading points according to actual conditions.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117273256A (en) * | 2023-11-23 | 2023-12-22 | 青岛慧拓智能机器有限公司 | Strip mine unloading management method and system based on reinforcement learning |
| CN117436678A (en) * | 2023-12-21 | 2024-01-23 | 青岛慧拓智能机器有限公司 | Method, device, equipment and storage medium for generating entry point of strip mine loading area |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117273256A (en) * | 2023-11-23 | 2023-12-22 | 青岛慧拓智能机器有限公司 | Strip mine unloading management method and system based on reinforcement learning |
| CN117273256B (en) * | 2023-11-23 | 2024-03-26 | 青岛慧拓智能机器有限公司 | Strip mine unloading management method and system based on reinforcement learning |
| CN117436678A (en) * | 2023-12-21 | 2024-01-23 | 青岛慧拓智能机器有限公司 | Method, device, equipment and storage medium for generating entry point of strip mine loading area |
| CN117436678B (en) * | 2023-12-21 | 2024-04-12 | 青岛慧拓智能机器有限公司 | Method, device, equipment and storage medium for generating entry point of strip mine loading area |
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