A mining truck unloading method and system for an unmanned transportation system in an open-pit mine

Abstract

The invention discloses a mining truck unloading method and system for an unmanned transportation system in an open-pit mine. A map is issued to the mining truck through a fleet dispatching center, and the truck travels to an unloading point for unloading according to the map information. When the retaining wall changes or encounters a temporary obstacle that has not been registered, the mining truck arrives at the unloading area and uses the radar for environmental perception. When an obstacle is detected at a certain distance behind the center of the rear tire, it is judged whether the obstacle is For the retaining wall, if it is a retaining wall, send an instruction to the mining truck to unload; if it is not a retaining wall, re-plan a new driving path and send it to the mining truck. When the truck reaches the unloading area and retreats to the target unloading point, the truck’s backward speed suddenly becomes zero, and the speed remains at zero for a certain period of time, which means that the rear tire of the truck touches the retaining wall. Provide triple insurance for mining trucks to reach the target unloading point safely through positioning, perception, and control.

Description

technical field [0001] The invention belongs to the technical field of unmanned driving in open-pit mines, and relates to a mining truck unloading method and system for an unmanned transportation system in open-pit mines. Background technique [0002] With the development of artificial intelligence, unmanned driving technology is also applied in the field of construction machinery. Unloading materials by trucks in the unmanned transportation system of open pit mines is a necessary operation scene. The selection of unloading points during the unloading process is usually determined by the operator based on experience. It is specified, and whether the unmanned vehicle transporting materials before unloading can safely and accurately stop at the planned unloading point is also very important. From the perspective of intelligence and safety, whether it is to solve the problem of unloading point selection or unmanned The way mining trucks are parked is of great significance. Rea...

AI Technical Summary

Problems solved by technology

[0003] The existing technology has the following defects: (1) The entire operation process of manned driving in the mining area is completely dependent on manual operation. Generally, transport vehicles are large in size, large in tonnage, large in inertia, and have many blind spots. There are serious security risks at the uninstall point

(2) Patent CN201010203482.2 describes an anti-overturning unloading method for an electric wheel vehicle dump site. When the vehicle unloads ore, it rolls out a gradually higher slope in the reverse direction, and the safety car block is pushed on the spot by a bulldozer. This kind of situation may cause the electric wheel vehicle to slip, which brings serious safety hazards to the operator and the vehicle; at the same time, the unloading point is not properly planned, and the change of the safety gear is not considered. situation, which greatly reduces work efficiency

(3) Disadvantages of patent CN201910381918.8: When the mining truck is close to the electric shovel, the vehicle identification terminal scans the license plate on the mining truck and then performs automatic control, and the recognition result is not fed back in time to make a judgment , if there is a false detection, there will be misoperation, which will bring hidden dangers to safety and reduce work efficiency

Moreover, the real loading scene is not the same as the unloading scene. While considering the safety of the loading scene, it is also necessary to consider the use of mining trucks and forklifts, whether effective loading has been completed, and the selection of the most important unloading point for unloading, If the unloading point is not selected properly, serious accidents will occur

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