Optimal trajectory planning method and system for turning at intersection of articulated mining equipment

Abstract

The invention discloses an optimal trajectory planning method and system for intersection turning of articulated mining equipment. The method comprises the following steps: building a kinematic model for a trajectory planning algorithm; designing an environment sensing module, and detecting whether the equipment enters the to-be-turned area or not; designing a trajectory planning module based on quadratic programming, and decoupling a trajectory planning problem into longitudinal and transverse trajectory planning; designing a key parameter determination module based on three-dimensional search, taking the driving time, the longitudinal driving distance and the transverse driving distance as key factors of a search strategy, and respectively designing a search outer cycle based on the driving time, a search middle cycle based on the longitudinal driving distance and a search inner cycle based on the transverse driving distance; on this basis, an optimal solution is obtained through a trajectory planning algorithm; and designing a constraint checking module, and carrying out constraint checking on the obtained track. The method can reduce the debugging and deployment time of the autonomous driving system, facilitates the full play of the performance of automation equipment, and improves the production efficiency.

Description

technical field [0001] The invention relates to the technical field of trajectory planning for underground mobile mining equipment, in particular to a method and system for planning optimal trajectory at intersections of articulated mining equipment. Background technique [0002] Articulated mobile mining equipment is widely used in underground mines due to its small turning radius and strong terrain adaptability. This kind of equipment mainly includes: underground scraper, drilling jumbo, charging jumbo, rock drilling jumbo, etc. The main tasks of this type of articulated mobile underground mining equipment in underground tunnels are to develop tunnels and transport ores. In an underground mine, the mining roadway and the transportation roadway intersect each other, and this type of mining equipment travels back and forth between the mining roadway and the transportation roadway, for example: the main job of the underground scraper is to move ore from the loading point of ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a method and system for planning the optimal turning trajectory of an articulated mining equipment intersection to solve the problem of low work efficiency due to the difficulty in obtaining high-quality teaching information for the autonomous scraper during turning, and the problem of The problem that the trajectory planning model cannot guarantee the optimal solution caused by the physical constraints of the angle can obtain a turning trajectory that guarantees optimality and completeness, which can guide the articulated mobile mining equipment to be safe and efficient under the condition of minimum acceleration and minimum acceleration change rate Passing the curve can not only reduce the debugging and deployment time of the autonomous driving system, but also facilitate the full play of the performance of automation equipment and improve production efficiency

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