A safety control method and system for a vehicle protection circle of an unmanned transportation system in an open-pit mine

Abstract

The invention discloses a vehicle protection ring safety control method and system for an unmanned transportation system of an open pit mine. The method and the system are suitable for vehicle drivingconditions under various routes. According to the speed of a vehicle, the braking capacity parameter, the vehicle driving route and the information of obstacles around the vehicle, the shape and parameters of an active protection ring for vehicle driving safety are set, the distance between vehicles or whether the vehicles make contact with obstacles or not and the possibility of collision are detected in real time, and the parameters of the protection ring are adjusted according to the vehicle driving parameters and route. The safety requirement of the mine unmanned vehicle is met.

Description

technical field [0001] The invention belongs to the technical field of unmanned driving in open-pit mines, and relates to a safety control method and system for a vehicle protection circle of an unmanned transportation system in open-pit mines. Background technique [0002] Open-pit mines at home and abroad are located in remote areas with harsh environments. The aging trend of transport vehicle drivers in mining areas is obvious. Safety accidents caused by the negligence of transport drivers occur frequently. In the future, the economic burden on production safety and personnel input in mining areas will increase day by day. Driven by the urgent needs of mining areas and the development of modern technology, unmanned surface mine transportation solutions have begun to emerge. However, due to the particularity and complexity of operation management in open-pit mines, the realization of unmanned systems in open-pit mines faces many technical challenges. Among them, map manage...

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Problems solved by technology

[0007] The existing technology has the following defects: the method adopted in the CN201680000852.8 patent cannot guarantee that the data after removing the dynamic obstacle information is map information data, such as utility poles swinging with the wind, people standing temporarily, dense dust, etc. Large cull errors occur

[0008] The method adopted in the CN201810365316.9 patent is only suitable for the establishment of a rough map model, and the design of production scheduling is artificially based on the established model, which cannot meet the high-precision map requirements of the unmanned mine system

[0009] The method adopted in the CN201811202808.2 patent is only applicable to unmanned vehicles in specific scenarios. For special vehicles and special operation modes in open-pit mining areas, in addition to normal lane edge and driving trajectory parameters, further planning of operation areas and traffic sections is required , road obstacles, etc.

In addition, the driving trajectory of the vehicle is to draw a straight line trajectory according to the intensity of the point cloud data, and draw a curved trajectory along the turning direction of the intersection. This method relies on the accuracy of the operator's operation, without the strong constraints of the mathematical model, and the drawing efficiency low and error prone

[0010] The method adopted in the CN201811254199.5 patent is only suitable for areas with regular and simple roads and clear satellite maps. For complex and irregular roads, it is impossible to compare the path shapes of other roads for drawing. The actual operation process is also quite difficult. Manual operation is difficult to ensure that the vehicle is driving on the middle line of the road. Such map drawing is not accurate, and the map content is relatively simple, without road boundary information and static obstacles on the driving path. object information

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