WO2021228147A1

WO2021228147A1 - Mine car transportation and driving control method and device, and mine car and storage medium

Info

Publication number: WO2021228147A1
Application number: PCT/CN2021/093366
Authority: WO
Inventors: 陶晓; 张华�; 陈腾; 龙浩; 徐悦
Original assignee: 长沙智能驾驶研究院有限公司
Priority date: 2020-05-15
Filing date: 2021-05-12
Publication date: 2021-11-18
Also published as: CN113687647A

Abstract

A mine car transportation and driving control method and device, and a mine car and a storage medium. The method comprises: obtaining an initial planned path generated according to a scheduling task (S202); controlling, according to the initial planned path, a mine car to drive (S204); when an ore receiving pose determined according to a power shovel pose is received, generating an ore receiving planned path from the current position of the mine car to an ore receiving position specified by the ore receiving pose (S206); and controlling, according to the ore receiving planned path, the mine car to drive to the ore receiving position (S208). According to the method, in a mining area environment where operation conditions are complex, when the power shovel pose is not determined, the initial planned path is first formed to control the mine car, and after the power shovel pose is determined, real-time planning is performed to form a planned path from the current position to the ore receiving position, so that a planned path to an operation area can be planned for different operation scenes, so as to control the mine car to drive to the ore receiving position, thus implementing full automatic driving for transportation in a mining area having a complex operation environment.

Description

Mine truck transportation driving control method, device, mine truck and storage medium

Technical field

This application relates to the field of automatic driving technology, and in particular to a method, device, mine car and storage medium for driving and controlling mining truck transportation.

Background technique

my country is rich in mineral resources, with annual output reaching hundreds of millions of tons. For the mining of mineral resources, the transportation cost of the open-pit mine is the most important part of the entire open-pit mine production and mining expenses. In the actual production of the mine, the transportation cost usually accounts for 50% to 65% of the total cost of the open-pit mine. In the total cost of the ore and the total labor in the production process, the transportation cost and the transportation labor account for more than 50%.

In recent years, the country has issued many policies for the construction of smart mines. At the same time, many smart mining truck OEMs and unmanned enterprises have emerged. It is expected that the mining area will realize intelligent transportation operations to solve the harsh environment of the mining area, frequent safety accidents and labor shortages, etc. problem.

However, the operating conditions in the mining area are complex, and roads and mining faces are constantly changing. In many scenarios, traditional mine cart control methods cannot achieve true automatic driving in the mining area.

Summary of the invention

Based on this, it is necessary to provide a mine cart transportation driving control method, device, mine cart and storage medium that can realize automatic driving in response to the above technical problems.

A driving control method for mining truck transportation, the method comprising:

Obtain the initial planning path generated according to the scheduled task;

Controlling the driving of the mine car according to the initial planned path;

When receiving the mine receiving pose determined according to the forklift's pose, generate a planned mine receiving path from the current position of the mine truck to the mine receiving location specified by the mine pose;

Control the mine cart to travel to the mine location according to the mine plan route.

A driving control device for mine cart transportation, the device comprising:

The initial path planning module is used to obtain the initial planning path generated according to the scheduling task;

The control module is used to control the driving of the mine car according to the initial planning path;

The real-time path planning module is used to generate a planned mine receiving path from the current position of the mine cart to the receiving position specified by the mining position when the receiving position determined according to the forklift position is received;

The control module is also used to control the mine cart to travel to the mine receiving location according to the mine receiving planning path.

A mine car includes a vehicle controller, an information collection device, a vehicle-mounted terminal, and a memory connected through a system bus, the memory stores a computer program, and the vehicle controller implements the following steps when the computer program is executed:

Obtain the initial planning path generated according to the scheduled task;

Controlling the driving of the mine car according to the initial planned path;

A computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Obtain the initial planning path generated according to the scheduled task;

Controlling the driving of the mine car according to the initial planned path;

The above-mentioned mine cart transportation driving control method, device, mine cart and storage medium first generate an initial planned path according to the scheduling task, and automatically control the mine cart to drive according to the initial planned path. When receiving the mine position determined according to the forklift’s position, Generate a planned mine-carrying path from the current location of the mine cart to the mine-receiving location specified by the mine pose, and control the mine cart to travel to the mine-receiving location according to the mine-planned path. In the face of complex mining environment, this method first forms the initial planning path to control the mine truck when the forklift pose is uncertain. After the forklift pose is determined, the planned path from the current location to the mine location is planned in real time, so as to be able to According to different operation scenarios, the planned route to the operation area is planned to control the driving of the mine cart to the receiving location, and the fully automatic driving of the mining area transportation in the complex operation environment is realized.

Description of the drawings

Fig. 1 is an application environment diagram of a driving control method for mining truck transportation in an embodiment;

Fig. 2 is a schematic flow chart of a method for driving and controlling a mine cart transportation in an embodiment;

Fig. 3 is a schematic diagram of a mining area shipping operation flow diagram in an embodiment in an embodiment;

Fig. 4 is a working schematic diagram of a crushing station in a mining area in an embodiment in an embodiment;

Fig. 5 is a structural block diagram of a driving control device for mining cart transportation in an embodiment;

Figure 6 is a diagram of the internal structure of the mine car in an embodiment.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the present application clearer, the following further describes the present application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not used to limit the present application.

The driving control method for mining truck transportation provided in this application can be applied to the application environment as shown in FIG. 1. Among them, the mine car 400 communicates with the control center 100 through the network through the network. The control center is provided with a dispatch monitoring server 101 and a remote cockpit 201. The minecart 400 receives the scheduling task of the scheduling monitoring server 101 or the operation instruction of the remote cockpit 201. The mine car obtains the initial planning path generated according to the scheduling task; controls the mine car to travel according to the initial planning path; when receiving the receiving position determined according to the forklift’s position, it generates the receiving position from the current position of the mine car to the designated position of the receiving mine. The planned route of the mine location; according to the planned route of the mine, the mine cart is controlled to drive to the mine location. Among them, the mining area is also provided with a roadside monitoring device 300, and the mine cart 400 is provided with a vehicle controller 404, an information collection device 401, a wire control device 402, and a vehicle-mounted terminal 403. According to the environmental information collected by the roadside monitoring device 300 and the information collection device 401, the mine car monitors the road conditions during the automatic driving process.

In one embodiment, as shown in FIG. 2, a method for driving and controlling a mine cart transportation is provided. Taking the method applied to the mine cart in FIG. 1 as an example, the method includes the following steps:

Step 202: Obtain an initial planned path generated according to the scheduled task.

A mine truck is a mine transportation vehicle, a vehicle used to transport ore or ore earth. In mining operations, the mine is divided into five areas according to the operating area required by the vehicle during the transportation process in the mining area: the mining road between the mining platform and the crushing station, the crushing station, the parking lot, the mining platform, and the Soil field. As shown in Figure 3, in order to save driving costs, the parking lot is set up between the mining platform and the crushing station. A typical transportation process is as follows: when the mining area operation starts, the mine truck is driven out of the parking lot with no load, and then enters the mining platform through the mining road; when the mine truck is located on the mining platform, accept the forklift to drive into the designated mine. Parking space, after loading is completed, drive out of the mining platform with full load; the mine cart drives out of the mining platform with full load, enters the crushing station via the ore transportation road, accepts the unloading instruction of the dispatch center, and after dumping the loaded ore, drives out of the crushing station with no load; The mine truck drove into the mining platform via the ore transportation road to start a new round of transportation; when the mining area operation stopped, the mine truck completed the unloading and drove into the parking space from the crushing station without load. The operation process of the dumping site is to strip the loess and rocks above the ore, transport to the dumping site, and then transport the ore to the crushing station. After the ore layer is dug, the dumping is filled.

It can be seen that the operating points of the mine truck in the mining area include parking lots, mining platforms and crushing stations, and the main operating range includes the mining road between the mining platform and the crushing station, the crushing station, the parking lot and the mining platform. For mining platforms, there are usually multiple forklifts to perform mining operations separately. Therefore, the mining platform includes the open area of the mining platform, that is, the non-operating area, and the operating area of each forklift. The mine truck can travel through the mine transportation road in the open area of the mining platform to the operation area of each forklift and wait for the mine to be received. Accepted ore refers to loading ore.

The driving control method for mining truck transportation of the present application can realize automatic driving of transportation operations.

Specifically, the initial planning path is first generated according to the scheduling task. The initial planned path is related to the scheduling task, and the planned path is generated according to the forklift operation area required by the scheduling task. The initial planned path includes the various operating points and the path between the various operating points of the mine truck transportation process. The initial planning path includes: starting from the parking lot, passing through the mining road between the mining platform and the crushing station, to the open area of the mining platform (that is, the non-operating area of the mining platform).

Step 204: Control the driving of the minecart according to the initial planned route.

Specifically, the mine cart is controlled to drive along the initial planned road. In this process, the mining truck passes through the mining road between the mining platform and the crushing station and the mining road in the open area of the mining platform.

In the scene of the mine transportation road between the mining platform and the crushing station, the mine truck can follow the initial planned path through RTK differential positioning. Road transportation in this scenario involves six specific behaviors: starting, tracking, meeting, following, avoiding obstacles, waiting, and stopping. Specifically, in the process of autonomous driving, the mine car recognizes road conditions based on information collected by information collection equipment and roadside monitoring, and intelligently implements corresponding driving behaviors based on the recognized road conditions. Among them, start means the mine car starts to drive automatically after the dispatch system issues a start command; parking means stops after the dispatch system issues a stop command; tracking means driving in accordance with the trajectory of the dispatch task; meeting the car means driving toward the opposite car; following the car When the vehicle in front is driving at a low speed or when the work task is congested, the vehicle in front enters the work area, and the vehicle in the back follows up and waits for the work; obstacle avoidance is performed when pedestrians, vehicles, stones, pits and other impassable obstacles are sensed during driving. Stop and avoid obstacles.

In the open area of the mining platform, RTK differential positioning is used to achieve fixed trajectory tracking. Road transportation in this scenario involves six specific behaviors: starting, tracking, meeting, diverting, following, avoiding obstacles, waiting, and stopping. Among them, waiting is waiting for dispatching tasks or dispatching orders, and remittance is merging into one driving trajectory from two different trajectories. The driving route of the minecart is fixed, and according to the forklift corresponding to the minecart, there can be multiple fixed routes, and the minecart can realize fixed trajectory following driving through RTK differential positioning.

The dispatch system uses electronic fences to set up parking points in the sections of the initial planned path in the open area of the mining platform. Specifically, when the vehicle is driving to the open area of the mining platform, if the vehicle does not receive a mining instruction, the dispatch system will issue a parking instruction, and set a parking point on the section of the open area of the mining platform in the initial planning path. Stop at the parking spot; if there are 3 vehicles or more on the initial planned route, the distance between each vehicle must be A m, and the dispatch system should be alerted in time, and the vehicles will be manually dispatched to ensure smooth traffic on the platform.

Step 206: When receiving the mine receiving pose determined according to the forklift pose, generate a planned mine receiving path from the current position of the mine truck to the mine receiving location specified by the mine pose.

In mining operations, forklifts perform mining operations. With the continuous advancement of mining operations, the working area of forklifts is constantly changing. At the same time, the use of forklifts to load the ore onto the mine truck also requires the relative placement of the forklift and the mine truck. Generally speaking, the forklift has the smallest rotation angle on the side of the bucket mining area, and the forklift loads The ore has the highest efficiency. The position of the forklift is the position of the forklift and the position of the forklift. The position of the forklift determines the direction of the slewing mechanism of the forklift.

The receiving posture refers to the posture of the mining truck relative to the forklift when it is loaded and receiving ore. The receiving position and posture include the receiving position of the mine cart and the placement posture. The receiving position includes the placement distance of the mine cart relative to the forklift, and the placement posture includes the placement angle of the mine cart relative to the forklift.

The mine car is equipped with GPS/Beidou positioning, inertial measurement instrument (IMU), and lidar for positioning. Through the fusion of differential positioning, laser point cloud matching positioning and high-precision local positioning, centimeter-level geographic coordinate positioning of vehicles is provided around the clock to ensure the stable operation of the automatic driving system.

The receiving position is determined by the forklift. Specifically, the forklift operator judges the surrounding environment, drives the forklift into the vicinity of the ore pile to be shoveled, and turns the bucket to the state of shoveling. The positioning system of the forklift can determine the precise pose of the forklift in the world coordinate system and the orientation of the slewing mechanism at this time. For the position of the front shovel, the positioning system of the shovel loading equipment is also used to determine its precise position and the orientation of the slewing mechanism in the world coordinate system. Based on the experience, the forklift driver sends the designated mine truck receiving area information to the dispatching system based on experience and combined with the current position of the forklift. The position of the mine is sent to the driverless mine cart.

When the mine cart receives the mining pose information, it uses the positioning device of the mine cart to locate the current location of the mine cart, and generates a planned mining path from the current location to the mine location designated by the mine pose. That is, the planned route of receiving mine is generated according to the current position of the mine cart and the dynamic planning of the receiving mine's pose.

Step 208: Control the mine car to travel to the mine location according to the planned route of the mine.

Specifically, according to the planned route of the mine, the mine cart is controlled to travel to the mine location to prepare for the mine. Since the planned route of the mine is generated according to the receiving position of the mine cart, the planned route of the mine shall guide the mine cart to the receiving position designated by the mine position, so that the mine cart can park at the corresponding angle. The front of the slewing mechanism of the forklift.

The above-mentioned mine truck transportation driving control method first generates an initial planned route according to the scheduling task, and automatically controls the mine truck to travel according to the initial planned route. When receiving the mine position determined according to the forklift’s position, it generates the position from the current position of the mine truck to According to the planned route of the mine receiving location designated by the mine pose, the mine cart is controlled to drive to the receiving location according to the planned mine location. In the face of complex mining environment, this method first forms the initial planning path to control the mine truck when the forklift pose is uncertain. After the forklift pose is determined, the planned path from the current location to the mine location is planned in real time, so as to be able to According to different operation scenarios, the planned route to the operation area is planned to control the driving of the mine cart to the receiving location, and the fully automatic driving of the mining area transportation in the complex operation environment is realized.

In another embodiment, the initial planning path includes the path from the initial position of the minecart to the open area of the mining platform. When receiving the mine-receiving pose determined according to the forklift's pose, it generates the path from the current location of the minecart to the mine-receiving pose The planned path of the designated mine location, including:

When the mine cart travels to the open area of the mining platform according to the initial planned path, if it receives the mine receiving position determined according to the forklift's pose, it will generate a mine receiving plan from the current position of the mine cart to the mine receiving position specified by the mine pose path.

As shown in Figure 3, the mining platform includes an open area of the mining platform, that is, a forklift non-operation area, and the operation area of each forklift, that is, each forklift has an operation area.

In actual operation, the forklift driver designates the parking area of the mine truck according to the forklift's position, and the dispatch system calculates and plans the final receiving position of the unmanned mine truck according to the parking area of the mine. Specifically, the forklift operator judges the surrounding environment, drives the forklift into the vicinity of the ore pile to be shoveled, and turns the bucket to the state of shoveling. The positioning system of the forklift can determine the precise pose of the forklift in the world coordinate system and the orientation of the slewing mechanism at this time. For the position of the front shovel, the positioning system of the shovel loading equipment is also used to determine its precise position and the orientation of the slewing mechanism in the world coordinate system. Based on experience and combined with the current position of the forklift, the forklift driver sends the mining area information of the mining vehicle to the background. The background dispatching system automatically generates the receiving position of the mining vehicle according to the area where the forklift receives the mine, and then receives the mining vehicle from the mining position. The posture is sent to the driverless minecart.

As shown in Figure 3, the initial planning path includes the path from the initial position of the minecart to the open area of the mining platform. Among them, the initial position of the minecart has two situations, one is the parking lot, and the other is the initial path of a transportation At a certain point. For the situation where the initial location of the minecart is the parking lot, it usually starts from the parking lot after the vehicle ends its transportation and travels to the parking lot according to the initial planned route. For example, at the end of the day, the vehicle drives to the parking lot according to the initial planned route. Another example is that the vehicle drives to the parking lot according to the initial planned route without receiving a dispatching instruction after unloading the mine. Then the next time it starts, take the parking lot as the starting point as the initial position of the minecart. If the vehicle receives a dispatching instruction after unloading the mine, the current point on the initial planning path is taken as the initial planning position. Taking the initial location of the minecart as the parking lot as an example, the initial planned path includes the path 301 from the initial location of the minecart (parking lot), passing through the mining road, the open area of the mining platform, the mining road, and the crushing station to the parking lot. When the mine cart travels to the open area of the mining platform according to the initial planned path, if it receives the mine-receiving pose determined according to the forklift's pose, it will generate the mine-receiving location from the current location of the mine cart to the mine-receiving location specified by the mine pose Plan the path.

When the mine cart travels to the open area of the mining platform according to the initial planned path, if the mine cart determined according to the forklift's pose is not received, the mine cart is controlled to drive to the mine waiting area. Among them, the waiting area for the mine may be a predetermined parking waiting area. For example, on the mining platform, multiple parking spaces are divided by electronic fences as waiting areas for mines. The waiting area of the mine can also be an electronic parking space temporarily generated by the dispatching instructions of the dispatch system as the waiting area of the mine. Mine waiting area. When the mining truck drives to the open area of the mining platform according to the initial planned route, if there are other vehicles in the waiting area of the mine, the vehicle will stop on the section of the initial planned route in the open area of the mining platform (ie, the mining road of the mining platform). If there are more than 3 vehicles staying on the mining road of the mining platform, the dispatch system will be alerted in time, and the vehicles will be manually dispatched to temporarily generate electronic parking spaces. waiting area.

If the mine truck receives the mine receiving position determined according to the forklift's position in the receiving waiting area, a planned mine receiving path from the receiving waiting area to the receiving location specified by the receiving position will be generated.

As shown in Figure 3, the planned route for mining is the path 302 in the figure, which is the path from the open area of the mining platform to the location of the mining platform. Specifically, the initial travel path is from a point (the current position of the vehicle) in the open area of the mining platform to The path of the mine location. With this method, there are two scene behaviors in the mining platform, namely, tracking driving and dynamic planning of paths. First, follow the trail and drive to the open area of the mining platform according to the initial planned route. Waiting for the receiving position information determined by the dispatching system according to the forklift's position and posture during the tracking driving process. If driving to the open area of the mining platform and receiving the mine-receiving pose information, the mine-receiving planned path from the current location to the mine-receiving location specified by the mine pose will be dynamically generated in real time. If the receiving posture information is not received, it will drive to the receiving waiting area on the initial planned route to wait. For example, a point on the initial planned route at a proper distance (for example, 50 meters) from the forklift is regarded as the receiving waiting area.

When the mine truck receives the mine receiving pose information determined according to the forklift's pose in the mine waiting area, it generates a planned mine receiving path from the mine waiting area to the mine receiving location specified by the mine pose.

In another embodiment, the initial planning path includes the path from the initial position of the minecart, through the open area of the mining platform, and the crushing station to the parking lot; Mine pose and initial planning path, generate a planned exit route from the mine location to the road where the initial planned route is located; control the mine cart to travel to the road where the initial planned route is located according to the planned exit route; control the mine cart to drive to the road based on the initial planned route The crushing station unloads the ore. As shown in Figure 3, the initial planned path includes a path 301 from the initial position of the minecart, through the open area of the mining platform, and the crushing station to the parking lot. When the forklift has finished loading the mine truck, the forklift driver clicks the button for completing the loading of the mine truck. The forklift loading completion information will be transmitted to the background dispatching system, and the dispatching system will send it to the corresponding minecart. The self-driving mine truck automatically generates the planned route from the mine location to the road where the initial planned route is located according to the order of the forklift loading completion, as well as the position of the mine truck and the road where the initial planned path is located (such as the section of the open area of the mining platform). Among them, the planned route for leaving the mine is shown as the route 303 in Fig. 3. According to the planned route for leaving the mine, the mine cart is controlled to drive into the open area of the mining platform and return to the initial route. Then the path is controlled according to the initial planning path to drive the minecart to the crushing station to unload the ore, and then drive into the parking lot after the ore is unloaded. Among them, there are many strategies for generating a planned route away from the mine. One implementation method is to select a point closest to the mine site as the target point on the road where the initial planned route is located (for example, the section of the initial planned route in the open area of the mining platform A certain point of the mine), generate a planned path from the mine location to the target point. In an implementation manner, a point with the least driving operation action is selected as the target point on the road where the initial planned route is located (for example, the point with the fewest steps to adjust the driving direction), and a planned route from the mine location to the target point is generated.

Specifically, as shown in Fig. 3, taking the parking lot as the initial location as an example, the initial planned path includes the closed loop of parking lot-mining road-mining platform open area, mining road, crushing station-parking lot. According to the initial planning path, the minecart drives to the open area of the mining platform. In order to reach the mine receiving area of the forklift operation, the mine receiving planning path 302 is dynamically generated in real time according to the receiving position and driving away from the receiving location after receiving the mine. The real-time planning generates a planned route 303 from the mine from the mine site to the road where the initial planned route is located. The planned route from the mine can guide the vehicle to re-enter the initial planned route, and then carry out driving operations according to the initial planned route.

Among them, in the unloading scene of the crushing station, the main behavior of the vehicle is tracking. Road transportation in this scenario involves 6 specific behaviors: tracking, stopping, waiting, starting, following the car, and avoiding obstacles.

As shown in Figure 4, the mine cart decelerates or stops first before driving to the crushing station area. The dispatcher in the dispatch room or the intelligent dispatching system uses the first camera to judge whether the ore on the mine cart belongs to the ore with high mud content. If it belongs to the ore with high mud content and is not allowed to enter the unloading area to unload the ore at this time, the dispatcher or the intelligent dispatching system will send the instruction "waiting for muddy ore" through the dispatching system. The mine car receives the instruction and automatically drives into the mud-containing ore waiting area to wait for the instruction of the next operation. If it belongs to ordinary ore, the self-driving mine cart will drive to the electronic fence in the crushing station area and wait outside the electronic fence; at this time, the self-driving mine cart will use the system to determine whether there is a mine cart for unloading operations in the electronic fence. The mine cart for unloading operations waits outside the electronic fence; if there is no mine cart, the mine cart will automatically drive into the electronic fence and automatically drive to the designated unloading crushing port.

After the self-driving mine truck stops at the unloading port, the dispatcher in the dispatching room or the intelligent dispatching system judges the position of the unloading port and the situation of the mine truck through the second camera, and gives the unloading instruction to the autonomous driving mine if the conditions are met. vehicle. The self-driving mine truck receives the unloading instruction and starts the unloading operation of the lifting bucket. After the unloading of the mine truck is completed, a new round of transportation operations will be started according to the new dispatching instructions and leave the unloading area of the crushing station.

When the unmanned mine truck completes the job task of the day and receives the job end scheduling instruction, and judges that the mine truck has completed the crushing hole unloading, if it does not receive a new scheduling task, it will automatically drive according to the initial path and drive into the corresponding parking It can realize automatic parking and turn off the vehicle. If a new scheduling task is received, a new initial planning path is generated according to the scheduling task, and driving is performed according to the new initial planning path.

In the autonomous driving scenario, when the scheduling task does not plan a route or a complex congestion situation, it is necessary to remotely drive to take over the vehicle. When the vehicle's perception and control communication equipment stops due to a serious failure, manual driving is required to take over the vehicle. The priority of manual driving is higher than remote driving than automatic driving. In each scenario, remote driving and manual driving are allowed to take over the vehicle. Thereby ensuring the flexibility of the vehicle.

In another embodiment, obtaining the initial planned path generated according to the scheduling task includes: obtaining the forklift designated by the scheduling task for loading ore on the minecar; generating the initial planning path based on the pre-collected driving road referenced by the forklift.

In mining operations, the demand for transportation is to transport the ore from the mining point to the crushing station for crushing treatment, and the mining point is constantly changing during the mining operation. Therefore, the transportation route is constantly changing. For intelligent driving technology, it is necessary to rely on existing roads and plan a drivable path on the basis of existing roads. Unlike urban roads, mining areas have no clear roads for construction. However, there is usually a need for dust reduction in mining areas, and sprinklers are often required to spray water in the mining area to reduce dust. In the technical solution of the present application, the sprinkler can be manually driven, and the travel path of the sprinkler can be collected as a road. Among them, when the sprinkler is manually driven, the target forklift is used as a reference to form a travel path to the target forklift, and the travel path is taken as the travel path to the forklift.

The scheduling task is designated as the forklift that the mine cart loads the ore, that is, it informs the mine cart to which forklift to receive the ore. The initial planning path is generated according to the pre-collected driving road with forklift as the reference.

In another embodiment, the method of pre-collecting a driving route with a forklift as a parameter includes: obtaining a road collection instruction; according to the road collection instruction, associating the number of the sprinkler with the forklift; and obtaining the reference of the sprinkler with the forklift. Driving path; according to the driving path, get the driving road referenced by the forklift; store the number of the forklift corresponding to the driving path. The sprinkler is manned. When it is necessary to collect/update the driving road, select the corresponding number of excavators or forklifts by placing the road network collection equipment on the appropriate position of the sprinkler, start the road collection function, and the sprinkler enters from the entrance of the mining platform Back again, the vehicle-mounted terminal automatically collects the GPS driving trajectory of the sprinkler, thereby forming a driving path in the open area of the mining platform with each forklift as a reference. Taking the forklift as a reference means that the target of the travel path takes into consideration the working area of the forklift. Therefore, the travel paths of forklifts in different work areas are different. In actual operation, the crushing station and the ore transportation road are relatively fixed, and only need to collect once. For example, after receiving a road collection instruction, the sprinkler chooses a forklift, from the parking lot, through the mining road, the mining platform is close to the open area of the forklift operation area (for example, the open area with a certain distance from the forklift), and the mining road , Crushing station, drive to the parking lot. The current travel path of the sprinkler is used as the travel path of the forklift. The crushing station and the ore transportation road are relatively fixed, and only need to be collected once. Therefore, when it is necessary to collect the driving roads of other forklifts or excavators, based on the first collection, after selecting the forklift, drive from the entrance of the mining platform to the open area of the mining platform near the forklift operation area (for example, An open area with a certain distance from the forklift), and then return to the entrance of the collection platform to form the driving path of the forklift in the open area of the collection platform. Then splicing the paths of other areas collected for the first time, you can get the complete driving road of the forklift.

The mine has multiple mining platforms, and each mining platform has multiple excavators to operate, and each excavator is responsible for a mining area. As the forklift moves with the mining face, the mining site will change from time to time. Therefore, for each forklift that needs to use the water truck, the driving road of the mining platform is updated every 1-2 days.

Further, the method for controlling mine truck transportation and driving further includes: forming a road network in the mining area according to the driving roads corresponding to each forklift; obtaining an electronic fence collection instruction; obtaining location information of the electronic fence according to the electronic fence collection instruction; The road network in the mining area is marked with electronic fences.

Specifically, after collecting the driving trajectory of the mining truck in each area, it is transmitted to the background dispatching system, and after editing, summarizing, and reviewing, the entire mining area driving road network is formed. Since the positioning accuracy of ordinary satellite maps is above 10m, there is a large error, so you can only collect electronic fences by hand-holding or placing road network collection equipment on the car. Specifically, when collecting electronic fences, the electronic fences can be collected separately according to the division of the area, so that the crushing station, ore transportation road, mining platform, parking lot, dumping yard, etc. all set up electronic fences in the corresponding area to realize each area The division.

In another embodiment, when it is detected that the minecart touches the boundary of the electronic fence during driving, the minecart is controlled to slow down or stop.

Specifically, an electronic fence is set up on the mining road. During the automatic driving process, the mine truck will detect its GPS location in real time, and by judging its own location and converting the length and width of the vehicle, a boundary electronic frame of the vehicle can be obtained. Compare whether the electronic frame of the vehicle exceeds the boundary of the electronic fence of the driving road, and determine whether the mine cart receives the electronic fence during the driving process to determine whether the mine cart has deviated. When it touches the boundary of the electronic fence, the autonomous driving mine cart will slow down Or stop the car and report to the dispatching system in time to ensure the safe driving of the mine car.

It should be understood that although the various steps in the flowchart of FIG. 2 are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, there is no strict order for the execution of these steps, and these steps can be executed in other orders. Moreover, at least part of the steps in FIG. 2 may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times, and the order of execution of these steps or stages is also It is not necessarily performed sequentially, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.

In one embodiment, as shown in FIG. 5, there is provided a driving control device for mining cart transportation, including:

The initial path planning module 502 is used to obtain the initial planning path generated according to the scheduling task.

The control module 504 is used to control the driving of the minecart according to the initial planned path.

The real-time path planning module 506 is configured to generate a planned mine receiving path from the current position of the mine truck to the mine receiving position specified by the mining position when the mine receiving position determined according to the forklift position is received.

The control module 508 is also used to control the mining vehicle to travel to the location of the mine according to the planned route of the mine.

The above-mentioned mine truck transportation driving control device first generates the initial planning path according to the scheduling task, automatically controls the mine truck to travel according to the initial planning path, and when receiving the mining position determined according to the forklift’s position, it generates the position from the current position of the mine truck to the receiving position. According to the planned route of the receiving location designated by the mine pose, the mine cart is controlled to drive to the receiving location according to the planned route of the receiving mine. In the face of complex mining environment, the device first forms an initial planning path to control the mine truck when the forklift's pose is uncertain. After the forklift's pose is determined, the planned path from the current location to the mine location is planned in real time. It can plan the planned route to the operation area according to different operation scenarios to control the driving of the mine cart to the receiving location, and realize the fully automatic driving of the mining area transportation in the complex operation environment.

In another embodiment, the initial planned path includes a path from the initial position of the minecart to the open area of the mining platform. The real-time path planning module is used for when the mine cart drives to the open area of the mining platform according to the initial planned path, if it receives the mine-receiving pose determined according to the forklift's pose, it will generate the mine cart from the current location to the mine-specified pose The planned path of the receiving mine location.

In another embodiment, the initial planned path includes the path from the initial position of the minecart to the open area of the mining platform; the real-time path planning module is also used for when the minecar drives to the open area of the mining platform according to the initial planned path, if it is not received To the mine receiving position determined according to the position of the forklift, the mine car is controlled to drive to the waiting area of the mine; if the mine car receives the receiving position determined according to the forklift’s position in the waiting area, the mine waiting is generated The planned route of receiving mines from the area to the receiving location designated by the mine pose.

In another embodiment, the initial planned path includes the path from the initial position of the minecart, through the open area of the mining platform, and the crushing station to the parking lot. The real-time path planning module is also used to generate a planned exit-mining path from the receiving location to the road where the initial planned path is located according to the receiving position and the initial planned path after the mine cart is loaded at the receiving location.

The control module is also used to control the mine cart to travel to the road where the initial planned path is located according to the planned route from the mine, and to control the mine cart to drive to the crushing station to unload the ore according to the initial planned path.

In another embodiment, the initial path planning module includes:

The scheduling task module is used to obtain the forklift designated by the scheduling task for loading ore into the minecart;

The planning module is used to generate the initial planning path based on the pre-collected driving road referenced by the forklift.

In another embodiment, the mining truck transportation driving control device further includes:

Road acquisition instruction acquisition module, used to acquire road acquisition instructions;

The association module is used to associate the numbers of sprinklers and forklifts according to road collection instructions;

The path acquisition module is used to acquire the driving path of the sprinkler with the forklift as a reference;

The road acquisition module is used to obtain the driving road referenced by the forklift according to the driving path;

The storage module is used to store the number of the forklift corresponding to the driving road.

The road network acquisition module is used to form the road network of the mining area according to the driving road corresponding to each forklift;

The electronic fence instruction acquisition module is used to acquire electronic fence acquisition instructions;

The electronic fence acquisition module is used to obtain the location information of the electronic fence according to the electronic fence acquisition instruction;

The marking module is used to mark the electronic fence on the road network of the mining area according to the location information of the electronic fence.

In another embodiment, the control module is also used to control the minecart to slow down or stop when it is detected that the minecart touches the border of the electronic fence during driving.

Regarding the specific limitation of the mine cart transportation driving control device, please refer to the above limitation on the mine cart transportation driving control method, which will not be repeated here. Each module in the above-mentioned mining truck transportation driving control device can be implemented in whole or in part by software, hardware, and a combination thereof. The above-mentioned modules can be embedded in the form of hardware or independent of the vehicle controller in the minecart, or can be stored in the memory of the minecart in the form of software, so that the vehicle controller can call and execute the corresponding operations of the above-mentioned modules.

In one embodiment, a mine cart is provided, and its internal structure diagram can be as shown in FIG. 6. The mine car includes a vehicle controller, information collection equipment, a vehicle-mounted terminal and a memory connected through a system bus. Among them, the vehicle controller of the mine car is used to provide calculation and control capabilities. The storage of the mine car includes a non-volatile storage medium and an internal storage. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The information collection equipment can be integrated installed lidar, millimeter wave radar, ultrasonic radar, vision sensor and positioning equipment. The computer program is executed by the vehicle controller to realize a driving control method of the mine cart transportation.

Those skilled in the art can understand that the structure shown in FIG. 6 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the mine cart to which the solution of the present application is applied. The specific mine cart can be Including more or less parts than shown in the figure, or combining some parts, or having a different arrangement of parts.

In one embodiment, a mine car is also provided, which includes a vehicle controller, an information collection device, a vehicle-mounted terminal, and a memory connected by a system bus. The memory stores a computer program. The vehicle controller implements the above methods when the computer program is executed. Steps in the embodiment.

In one embodiment, a computer-readable storage medium is provided, and a computer program is stored thereon, and when the computer program is executed by a processor, the steps in the foregoing method embodiments are implemented.

A person of ordinary skill in the art can understand that all or part of the processes in the method of the foregoing embodiments can be implemented by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage. In the medium, when the computer program is executed, it may include the procedures of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, or optical storage. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not a limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered as the range described in this specification.

The above-mentioned embodiments only express several implementation manners of the present application, and their descriptions are more specific and detailed, but they should not be understood as a limitation on the scope of invention patents. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can be made, and these all fall within the protection scope of this application. Therefore, the scope of protection of the patent in this application shall be subject to the appended claims.

Claims

A driving control method for mining truck transportation, the method comprising:

Obtain the initial planning path generated according to the scheduled task;

Controlling the driving of the mine car according to the initial planned path;

When receiving the mine receiving pose determined according to the forklift's pose, generate a planned mine receiving path from the current position of the mine truck to the mine receiving location specified by the mine pose;

Control the mine cart to travel to the mine location according to the mine plan route.
The method according to claim 1, wherein the initial planning path includes a path from the initial position of the minecart to the open area of the mining platform; when receiving the mine-receiving position determined according to the forklift's position, generating the secondary mine The planned path for receiving mines from the current position of the vehicle to the receiving location specified by the mine pose includes:

When the mine cart travels to the open area of the mining platform according to the initial planned path, if it receives the mining position determined according to the forklift's pose, it will generate the mining vehicle from the current position of the mine cart to the specified mine position and pose. The planned path of the mine location.
The method according to claim 1 or 2, wherein the initial planning path includes a path from the initial position of the minecart to the open area of the mining platform; The planned route for receiving mines from the current position of the minecart to the receiving location specified by the mine pose includes:

When the mine cart travels to the open area of the mining platform according to the initial planned path, if the mine cart determined according to the forklift's pose is not received, control the mine cart to drive to the mine waiting area;

If the mine truck receives the mine receiving position determined according to the forklift's position in the mine waiting area, a mine receiving plan from the mine waiting area to the mine receiving position specified by the mine position is generated path.
The method according to claim 1, wherein the initial planning path includes a path from the initial position of the mine cart, through the open area of the mining platform, and the crushing station to the parking lot; the method further comprises:

After the loading of the mine cart at the mine receiving location is complete, generate a planned exit-mining path from the mine receiving location to the road where the initial planned path is located according to the mine receiving posture and the initial planned path;

Controlling the mine cart to drive to the road where the initial planned route is located according to the planned route away from the mine;

According to the initial planning path, the mine cart is controlled to drive to the crushing station to unload the ore.
The method according to claim 1, wherein obtaining the initial planning path generated according to the scheduling task comprises:

Acquiring the forklift designated by the scheduling task to load the ore on the mine truck;

An initial planned route is generated according to the pre-collected driving road with the forklift as a reference.
The method according to claim 5, wherein the method further comprises:

Obtain road collection instructions;

According to the road collection instruction, associate the numbers of the sprinklers and the forklifts;

Acquiring the driving path of the sprinkler with the forklift as a reference;

Obtaining, according to the driving path, a driving road with the forklift as a reference;

The serial number of the forklift is stored in correspondence with the driving road.
The method according to claim 6, wherein the method further comprises:

Form a road network in the mining area according to the driving roads corresponding to each forklift;

Obtain the electronic fence collection instruction;

Acquiring location information of the electronic fence according to the electronic fence collection instruction;

Mark the electronic fence on the road network of the mining area according to the location information of the electronic fence.
The method according to claim 7, characterized in that when it is detected that the mine cart has touched the boundary of the electronic fence during driving, the mine cart is controlled to decelerate or stop.
A driving control device for mine cart transportation, characterized in that the device comprises:

The initial path planning module is used to obtain the initial planning path generated according to the scheduling task;

The control module is used to control the driving of the mine car according to the initial planning path;

The real-time path planning module is used to generate a planned mine receiving path from the current position of the mine cart to the receiving position specified by the mining position when the receiving position determined according to the forklift position is received;

The control module is also used to control the mine cart to travel to the mine receiving location according to the mine receiving planning path.
A mine car includes a vehicle controller, an information collection device, an on-board terminal, and a memory connected through a system bus, the memory stores a computer program, and is characterized in that the vehicle controller implements the claims when the computer program is executed The steps of the method described in any one of 1 to 8.
A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the method according to any one of claims 1 to 8 when the computer program is executed by a processor.