CN113625708A - Recalling control method and system for unmanned transport vehicle of surface mine - Google Patents
Recalling control method and system for unmanned transport vehicle of surface mine Download PDFInfo
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- CN113625708A CN113625708A CN202110824229.7A CN202110824229A CN113625708A CN 113625708 A CN113625708 A CN 113625708A CN 202110824229 A CN202110824229 A CN 202110824229A CN 113625708 A CN113625708 A CN 113625708A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000007726 management method Methods 0.000 claims abstract description 41
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- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 230000002159 abnormal effect Effects 0.000 abstract description 3
- 230000003993 interaction Effects 0.000 description 4
- 238000003860 storage Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
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- 230000032683 aging Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a recalling control system and method for an unmanned transport vehicle in a surface mine, wherein the recalling vehicle is appointed by a machine group control system; the cluster management system determines whether the vehicle is on-line, and if so, acquires the current task state of the specified vehicle; the cluster management system judges whether the current task state of the appointed vehicle is in a recalling state, if the current task state of the appointed vehicle is in a non-recalling state, the cluster management system waits for the appointed vehicle to enter a next task state, and resets the step by taking the next task state as the current task state; if the vehicle is in the recallable state, calculating a navigation route from the designated vehicle to the parking area; the cluster management system judges whether the navigation route meets the preset cluster planning requirement, if so, the current task state of the designated vehicle is changed into a recall state, and the designated vehicle arrives at a parking area according to the navigation route; the invention can realize the return control of the vehicle caused by normal or abnormal reasons in the production flow of the mine, and improve the operation control level and the operation efficiency.
Description
Technical Field
The invention relates to a recall control method and a recall control system for an unmanned transport vehicle of a surface mine, and belongs to the technical field of unmanned driving of the surface mine.
Background
The outdoor mines at home and abroad are remote and have severe environment, the attraction of mining areas to young people is insufficient, the aging trend of drivers operating in transport vehicles is obvious, and safety accidents caused by improper operation of the transport drivers are frequent. Under the trend that the country and people pay more and more attention to safe production, the expenses of the future mining area in the aspects of safe production, personnel investment and the like will increase day by day. The unmanned transportation solution of the surface mine is a development direction of mine transportation. However, the operational management specificity and complexity of surface mines causes the implementation of surface mine unmanned systems to face a number of technical challenges. How to improve the control and the scheduling of the unmanned transportation system of the system to the unmanned vehicles is one of the keys for improving the safety and the controllability of the unmanned transportation system and is also one of the rings for improving the whole operation efficiency.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a multi-vehicle simultaneous unloading operation control system and method for a surface mine, and solves the technical problem of unmanned vehicle recall control of the surface mine.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a method for controlling recall of an unmanned transport vehicle in a surface mine, comprising:
appointing a recalled vehicle through a cluster management and control system;
the cluster management system determines whether the vehicle is on-line by connecting with a vehicle-mounted terminal system on the appointed vehicle, and if so, acquires the current task state of the appointed vehicle;
the cluster management system judges whether the current task state of the appointed vehicle is in a recalling state, if the current task state of the appointed vehicle is in a non-recalling state, the cluster management system waits for the appointed vehicle to enter a next task state, and resets the step by taking the next task state as the current task state; if the vehicle is in the recallable state, calculating a navigation route from the designated vehicle to the parking area;
and the cluster management system judges whether the navigation route meets the preset cluster planning requirement, and if so, the current task state of the designated vehicle is changed into a recall state, and the designated vehicle arrives at the parking area according to the navigation route.
Preferably, the task state includes entering of a loading area, loading operation, leaving of the loading area, going to an unloading area, entering of the unloading area, unloading operation, leaving of the unloading area, and going to the loading area, and the task state is reported to the fleet management system in real time through the vehicle-mounted terminal system.
Preferably, the loading area entering, the unloading area exiting and the going to the unloading area are in a recallable state; and the loading operation, the unloading area leaving, the going to the unloading area, the unloading area entering and the unloading operation are in a non-recallable state.
Preferably, the step of designating the vehicle to be recalled through the fleet management and control system includes the step of performing timed automatic recall, batch recall, single-vehicle recall and recall cancellation operations on the designated vehicle through the fleet management and control system.
Preferably, when the designated vehicle is in a recall state, cancellation of the recall operation is not permitted.
Preferably, the preset fleet planning requirement includes skipping two lane planning navigation routes backwards from the current lane of the vehicle or skipping one lane planning navigation route backwards from the current lane of the vehicle; and the priority of the planned navigation route which skips two lanes backwards from the current lane of the vehicle is higher than that of the planned navigation route which skips one lane backwards from the current lane of the vehicle.
A recalling control system of an unmanned transport vehicle in a surface mine comprises a machine group control system, a vehicle and a vehicle-mounted terminal system arranged on the vehicle, wherein the vehicle-mounted terminal system is in communication connection with the machine group control system; the vehicle-mounted terminal system is used for uploading the current task state of the vehicle in real time, receiving a control instruction of the cluster management and control system and returning to the parking area according to a navigation route in the control instruction; the cluster management and control system is used for receiving the current task states of all vehicles in real time, generating a control command according to the requirements and issuing the control command to the vehicle-mounted terminal system.
Preferably, the vehicle-mounted terminal system comprises a navigation positioning module and a data transceiver module, the navigation positioning module comprises a GPS and an inertial navigation system, the GPS is used for monitoring the position information of the vehicle, and the inertial navigation system is used for controlling the vehicle to arrive at a parking area according to a navigation route; the data transceiver module is used for sending task states and receiving control instructions.
Preferably, the cluster management and control system includes a computer control device and a human-computer interaction interface, the human-computer interaction interface is used for setting the recall operation, and the computer control device is used for making a control instruction according to the recall operation and the task state of the vehicle and issuing the control instruction to the vehicle-mounted terminal system.
Preferably, the fleet management and control system further includes a wireless remote emergency stop system, and is configured to send a stop instruction to the vehicle for emergency stop through a wireless emergency stop button when the navigation and positioning module of the vehicle fails or is in emergency.
Compared with the prior art, the invention has the following beneficial effects:
according to the method and the system for controlling the recall of the unmanned transport vehicles in the surface mine, the designated vehicles can be set with the timed automatic return parking area according to each scene in actual production, the designated single vehicle or multiple vehicles can be manually selected to return, and the functions of batch and total recall are realized, so that the unmanned vehicles can automatically run and return to the designated parking area. And automatically issuing a return instruction according to the current task execution condition of the vehicle. And dynamically searching the return route through the current position of the vehicle. Therefore, the return control of the vehicle caused by normal or abnormal reasons in the production flow of the mine is realized, and the operation control level and the operation efficiency of the unmanned system are improved.
Drawings
FIG. 1 is a schematic illustration of a vehicle in a mission state provided by an embodiment of the present invention;
fig. 2 is a flowchart of a recall control method for an unmanned transport vehicle in a surface mine according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
the recalling control method for the unmanned transport vehicle in the surface mine provided by the embodiment comprises the following steps:
step 1, appointing a vehicle to be recalled through a cluster management and control system. The step of appointing the recalled vehicles through the cluster management and control system comprises the step of carrying out timed automatic recall, batch recall, single vehicle recall and recall cancellation operation on the appointed vehicles through the cluster management and control system.
Step 2, the cluster management system determines whether the vehicle is on-line by connecting with a vehicle-mounted terminal system on the appointed vehicle, and if so, acquires the current task state of the appointed vehicle; the task state comprises loading area entering, loading operation, loading area leaving, going to the unloading area, unloading area entering, unloading operation, unloading area leaving and going to the loading area, and the task state is reported to the cluster management system in real time through the vehicle-mounted terminal system.
Step 3, the cluster management system judges whether the current task state of the appointed vehicle is in a recallable state, if the current task state of the appointed vehicle is in a non-recallable state, the cluster management system waits for the appointed vehicle to enter a next task state, takes the next task state as the current task state, and resets the step; if the vehicle is in the recallable state, a navigation route from the designated vehicle to the parking area is calculated.
Wherein, the loading area is in a recallable state, the unloading area is out of the field, and the loading area goes to the unloading area; the loading operation, the unloading area leaving, the going to the unloading area, the unloading area entering and the unloading operation are in a non-recallable state.
And 4, judging whether the navigation route meets the preset cluster planning requirement or not by the cluster management system, and if so, changing the current task state of the designated vehicle into a recall state, wherein the designated vehicle arrives at the parking area according to the navigation route. Wherein, when the designated vehicle is in the recall state, cancellation of the recall operation is not permitted.
The preset fleet planning requirement comprises that two lane planning navigation routes are skipped backwards from the current lane of the vehicle or one lane planning navigation route is skipped backwards from the current lane of the vehicle; and the priority of the planned navigation route which skips two lanes backwards from the current lane of the vehicle is higher than that of the planned navigation route which skips one lane backwards from the current lane of the vehicle.
Example two:
the recalling control system for the unmanned transport vehicle in the surface mine comprises a machine group control system, a vehicle and a vehicle-mounted terminal system arranged on the vehicle, wherein the vehicle-mounted terminal system is in communication connection with the machine group control system; the vehicle-mounted terminal system is used for uploading the current task state of the vehicle in real time, receiving a control instruction of the cluster management and control system and returning to the parking area according to a navigation route in the control instruction; the cluster management and control system is used for receiving the current task states of all vehicles in real time and generating a control command according to the requirements and issuing the control command to the vehicle-mounted terminal system.
The vehicle-mounted terminal system comprises a navigation positioning module and a data transceiving module, wherein the navigation positioning module comprises a GPS (global positioning system) and an inertial navigation system, the GPS is used for monitoring the position information of the vehicle, and the inertial navigation system is used for controlling the vehicle to arrive at a parking area according to a navigation route; the data transceiver module is used for sending task state and receiving control instructions.
The cluster management and control system comprises a computer control device and a human-computer interaction interface, wherein the human-computer interaction interface is used for setting the recall operation, and the computer control device is used for formulating a control instruction according to the recall operation and the task state of the vehicle and issuing the control instruction to the vehicle-mounted terminal system.
The cluster management and control system also comprises a wireless remote emergency stop system, and is used for sending a stop instruction to the vehicle for emergency stop through the wireless emergency stop button when the navigation positioning module of the vehicle fails or emergently happens.
The invention comprises timing parking space returning, batch returning, single vehicle returning and return cancelling control. The automatic returning parking lot is set for the appointed vehicle according to scenes such as shift changing, maintenance, blasting time and the like in actual production, the appointed vehicle is manually selected to return by one or more vehicles, and the functions of batch and total recalling are achieved, so that unmanned vehicles can automatically travel to return to the appointed parking lot. And automatically issuing a return instruction according to the current task execution condition of the vehicle. And dynamically searching the return route through the current position of the vehicle. Therefore, the return control of the vehicle caused by normal or abnormal reasons in the production flow of the mine is realized, and the operation control level and the operation efficiency of the unmanned system are improved.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A recall control method for an unmanned transport vehicle in a surface mine, comprising:
appointing a recalled vehicle through a cluster management and control system;
the cluster management system determines whether the vehicle is on-line by connecting with a vehicle-mounted terminal system on the appointed vehicle, and if so, acquires the current task state of the appointed vehicle;
the cluster management system judges whether the current task state of the appointed vehicle is in a recalling state, if the current task state of the appointed vehicle is in a non-recalling state, the cluster management system waits for the appointed vehicle to enter a next task state, and resets the step by taking the next task state as the current task state; if the vehicle is in the recallable state, calculating a navigation route from the designated vehicle to the parking area;
and the cluster management system judges whether the navigation route meets the preset cluster planning requirement, and if so, the current task state of the designated vehicle is changed into a recall state, and the designated vehicle arrives at the parking area according to the navigation route.
2. The method as claimed in claim 1, wherein the task status includes loading area entrance, loading operation, loading area exit, going to unloading area, unloading area entrance, unloading operation, unloading area exit and going to loading area, and the task status is reported to the fleet management system through the vehicle-mounted terminal system in real time.
3. The method of claim 2, wherein the loading area entry, the unloading area exit, and the travel to the unloading area are recallable; and the loading operation, the unloading area leaving, the going to the unloading area, the unloading area entering and the unloading operation are in a non-recallable state.
4. The method of claim 1, wherein the designating of the vehicle for recall through the fleet management and control system comprises performing timed automatic recall, batch recall, single-car recall, and recall cancellation operations on the designated vehicle through the fleet management and control system.
5. The method of claim 4, wherein the designated vehicle is not permitted to cancel the recall operation when the designated vehicle is in a recall state.
6. The method of claim 1, wherein the predetermined fleet planning requirements include skipping two lane-planning navigation routes backwards from the current lane of the vehicle or one lane-planning navigation route backwards from the current lane of the vehicle; and the priority of the planned navigation route which skips two lanes backwards from the current lane of the vehicle is higher than that of the planned navigation route which skips one lane backwards from the current lane of the vehicle.
7. A recalling control system of an unmanned transport vehicle in a surface mine is characterized by comprising a machine group control system, a vehicle and a vehicle-mounted terminal system arranged on the vehicle, wherein the vehicle-mounted terminal system is in communication connection with the machine group control system; the vehicle-mounted terminal system is used for uploading the current task state of the vehicle in real time, receiving a control instruction of the cluster management and control system and returning to the parking area according to a navigation route in the control instruction; the cluster management and control system is used for receiving the current task states of all vehicles in real time, generating a control command according to the requirements and issuing the control command to the vehicle-mounted terminal system.
8. The system of claim 7, wherein the vehicle-mounted terminal system comprises a navigation positioning module and a data transceiver module, the navigation positioning module comprises a GPS and an inertial navigation system, the GPS is used for monitoring position information of the vehicle, and the inertial navigation system is used for controlling the vehicle to arrive at a parking area according to a navigation route; the data transceiver module is used for sending task states and receiving control instructions.
9. The system of claim 7, wherein the fleet management and control system comprises a computer control device and a human-computer interface, the human-computer interface is used for setting a recall operation, and the computer control device is used for making a control command according to the recall operation and a task state of the vehicle and sending the control command to the vehicle-mounted terminal system.
10. The system of claim 8, wherein the fleet management and control system further comprises a wireless remote emergency stop system, and is configured to send a stop command to the vehicle for emergency stop via a wireless emergency stop button when the navigation and positioning module of the vehicle fails or in emergency.
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| CN202110824229.7A CN113625708A (en) | 2021-07-21 | 2021-07-21 | Recalling control method and system for unmanned transport vehicle of surface mine |
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| CN202110824229.7A CN113625708A (en) | 2021-07-21 | 2021-07-21 | Recalling control method and system for unmanned transport vehicle of surface mine |
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