Unmanned dispatching system and method for external dumping site

Abstract

The present invention discloses an unmanned dispatching system for an external dumping site, comprising a data collection unit, a data transmission unit, a dispatching control unit and an unmanned driving device; wherein the data collection unit is used to collect the dumping area conditions of the external dumping site of the mine and the position and motion data of the unmanned driving device in real time; the data transmission unit is used to realize the transmission of data and control signals between the data collection unit, the dispatching control unit and the unmanned driving device; the dispatching control unit is used to identify the boundary of the dumping area of ​​the external dumping site of the mine in real time according to the data collected by the data collection unit; the dumping point is updated in real time according to the obtained boundary of the dumping area of ​​the external dumping site, and the unmanned driving device is dispatched according to the dumping amount of each dumping point. The unmanned dispatching system provided by the invention completes the dynamic task dispatching of various equipment involved in the dumping site operation without manual intervention, which is more scientific and can achieve real reduction of staff and increase of efficiency.

Description

Technical Field

[0001] The invention belongs to the field of automatic control, and in particular relates to an unmanned dispatching system and method for an external dumping site. Background Art

[0002] With the rapid development of unmanned driving technology, more and more mineral mining companies have begun to carry out unmanned transformation of mines.

[0003] The unmanned transformation mainly includes two aspects. On the one hand, it is the unmanned transformation of mining trucks, using unmanned driving systems to complete the driving tasks of mining truck drivers; on the other hand, it is the unmanned transformation of the dispatching system. Through a small amount of manual intervention, the unmanned dispatching system can complete the task dispatching of multiple mining equipment under pre-set rules. This can not only reduce the occurrence of production accidents caused by human factors, but also manage all mining equipment more scientifically, so as to reduce staff and increase efficiency.

[0004] The unmanned dispatching system of the mine can be divided into three sub-dispatching systems according to the different dispatching areas and task attributes. The first category is the unmanned dispatching subsystem on the mining surface, the second category is the unmanned dispatching subsystem in the transportation area, and the third category is the unmanned dispatching subsystem in the dumping area. Among them, the unmanned dispatching subsystem in the dumping area can be further subdivided into two categories according to the type of dumping area: the unmanned dispatching subsystem for the inner dumping area and the unmanned dispatching subsystem for the outer dumping area. Among them, the dumping point of the inner dumping area is relatively fixed, and there is not much technical difficulty in realizing it from the aspects of unmanned task scheduling or unmanned path planning; while the outer dumping area often has multiple dumping points due to its large area, and the location of the dumping point is highly dynamic. The dumping point needs to change continuously according to the construction plan of the mine and the current amount of dumped earth, and the unmanned dispatching system is difficult to implement.

[0005] There is no completely unmanned solution for the unmanned dispatching system of the external dumping site in the industry, and most of them are in operation. In the unmanned mine, the multiple dynamic dumping points are mostly simplified into several fixed dumping points for task scheduling in the dumping process of the external dumping site. Then the dispatcher of the dispatching center uses the remote monitoring equipment installed in the external dumping site to judge the earthwork stacking situation of the dumping point and manually designate the new dumping point for the unmanned dispatching system to generate new dispatching tasks and send them to the unmanned mining trucks responsible for transporting earthwork. The unmanned dispatching system designed according to this method relies too much on the experience of the dispatcher and requires frequent manual intervention by the dispatcher, resulting in low dispatching efficiency and high labor costs. Summary of the invention

[0006] Purpose of the invention: In view of the problems existing in the prior art, the present invention proposes an unmanned dispatching system with high dispatching efficiency for external discharge type spoil dump.

[0007] Technical solution: To achieve the above-mentioned purpose, the present invention provides an unmanned dispatching system for an external dumping site, which is characterized by comprising a data acquisition unit, a data transmission unit, a dispatching control unit and an unmanned driving device;

[0008] The data acquisition unit is used to collect the real-time data of the dumping area of ​​the mine's external dumping area and the location and movement data of the unmanned equipment;

[0009] The data transmission unit is used to realize the transmission of data and control signals between the data acquisition unit, the dispatch control unit and the unmanned driving equipment;

[0010] The scheduling control unit is used to identify the boundaries of the discharge area of ​​the external discharge type dump of the mine in real time according to the data collected by the data acquisition unit; update the discharge points in real time according to the obtained boundaries of the discharge area of ​​the external discharge type dump, and schedule the unmanned equipment according to the discharge amount of each discharge point.

[0011] Further, the data acquisition unit includes a data acquisition subunit in the spoil field and a vehicle-mounted data acquisition subunit, wherein the data acquisition subunit in the spoil field includes a movable base, a three-axis gimbal arranged on the top of the movable base, an RTK positioning main antenna, an RTK positioning directional antenna and a non-repetitive scanning radar, a fixed frame is fixed on the three-axis gimbal, the fixed frame includes a crossbar and a vertical bar, the vertical bar of the fixed frame is fixed at the center position of the three-axis gimbal, the vertical bar is perpendicular to the plane of the three-axis gimbal, the crossbar of the fixed frame is fixed on the vertical bar, the crossbar passes through the axis of the vertical bar, and the vertical bar and the crossbar are perpendicular to each other; the RTK positioning main antenna is vertically fixed on the top of the vertical bar, the RTK positioning directional antenna and the non-repetitive scanning radar are respectively arranged at both ends of the crossbar, and the RTK positioning directional antenna and the crossbar are perpendicular to each other; the RTK receiver is arranged on the movable base; the vehicle-mounted data acquisition subunit includes an RTK receiver, which is respectively arranged on the top of the unmanned driving device. This can effectively improve the recognition efficiency and accuracy of the spoil area boundary.

[0012] Further, the scheduling control unit includes a dumping area analysis subunit, a dumping point analysis subunit and a scheduling and path planning subunit of the dumping site;

[0013] The dump area analysis subunit of the dump area identifies the boundary of the dump area of ​​the external dump area in real time according to the data collected by the data collection unit, and adjusts the position of the data collection unit according to the recognition result so that the data collection unit is located at the center of the dump area; at the same time, the area of ​​the current dump area is calculated to determine whether the area of ​​the current dump area reaches the planned area of ​​the dump area. If it reaches the planned area of ​​the dump area, an instruction is issued to stop dumping; if it does not reach the planned area of ​​the dump area, an instruction is issued to continue dumping;

[0014] The dumping point analysis subunit updates the dumping point according to the boundary of the dumping area of ​​the external dumping field obtained by real-time identification, so that the distance between two adjacent dumping points is the set distance threshold; at the same time, it is judged in real time whether the amount of earth dumped at each dumping point exceeds the preset earth dumping amount threshold of each dumping point; if it exceeds, an instruction to trim the boundary of the dumping field and an instruction to stop dumping at the corresponding dumping point are sent; if it does not exceed, an instruction to continue dumping is issued;

[0015] The dispatching and path planning subunit dispatches the unmanned equipment and plans the action path. This can respond to various controls and dispatches quickly and accurately, while taking into account various complex situations in the spoil dump, making the entire system more intelligent.

[0016] Further, the method for identifying the boundary of the dumping area of ​​the external dumping area of ​​the mine comprises the following steps:

[0017] Step 1-1: Convert the longitude, latitude and altitude coordinates Position_RTK (Longitude, Latitude, Altitude) of the RTK positioning main antenna to the UTM coordinate system to obtain the coordinates Position_RTK_UTM (Easting, Northing, Altitude) of the RTK positioning main antenna in the UTM coordinate system;

[0018] Step 1-2: According to the formula Map_Pointcloud[i]=r i *(R*Queue_Pointcloud[i]+T) obtains the point cloud data in the spliced ​​point cloud map of the dumping area corresponding to the i-th heading angle; traverses all the data in the heading angle sequence Queue_Yaw and the point cloud sequence Queue_Pointcloud of the dumping area; obtains the spliced ​​point cloud map Map_Pointcloud{Map_Pointcloud[0], Map_Pointcloud[1], ..., Map_Pointcloud[i], ..., Map_Pointcloud

[359] } of the dumping area; wherein, Queue_Yaw[i] represents the i-th heading angle in the heading angle sequence; R represents the rotation matrix from the non-repetitive scanning radar to the RTK positioning main antenna; T represents the translation matrix from the non-repetitive scanning radar to the RTK positioning main antenna; Queue_Pointcloud[i] represents the i-th group of point cloud data in the point cloud sequence Queue_Pointcloud of the dumping area corresponding to the i-th heading angle;

[0019] Step 1-3: Extract the ground point cloud from the point cloud map Map_Pointcloud in the soil dumping area according to the ground extraction algorithm to obtain the ground point set Ground_Pointcloud;

[0020] Step 1-4: Find the dumping area edge point set Point_Edge in the ground point set Ground_Pointcloud; take the projection point of the RTK positioning main antenna on the ground as the center of the circle, and divide the ground into areas with equal central angles; among the points in the ground point set Ground_Pointcloud contained in each area, find the point farthest from the center of the circle; and save the point in the dumping area edge point set Point_Edge;

[0021] Step 1-5: Convert all points in the dumping area edge point set Point_Edge to the UTM coordinate system to obtain the dumping area edge point set Point_Edge_UTM in the UTM coordinate system;

[0022] Step 1-6: Connect the adjacent points in the dumping area edge point set Point_Edge_UTM in the UTM coordinate system in sequence to obtain the boundary of the dumping area of ​​the dumping site. This recognition method has higher recognition accuracy.

[0023] Furthermore, in steps 1-4, the center angle of the circle is 0.1°, which effectively improves the recognition accuracy.

[0024] Furthermore, unmanned equipment includes unmanned mining trucks and unmanned bulldozers.

[0025] The present invention also provides an unmanned dispatching method for an external dumping site, including dumping area analysis of the dumping site; dumping point analysis and dispatching and path planning;

[0026] The dumping area analysis of the dumping yard uses the data collected by the data acquisition unit to identify the boundary of the dumping area of ​​the external dumping yard in real time, and adjusts the position of the data acquisition unit according to the recognition result so that the data acquisition unit is located in the center of the dumping area; at the same time, the area of ​​the current dumping area is calculated to determine whether the area of ​​the current dumping area reaches the planned area of ​​the dumping yard. If it reaches the planned area of ​​the dumping yard, an instruction is issued to stop dumping; if it does not reach the planned area of ​​the dumping yard, an instruction is issued to continue dumping;

[0027] The dumping point analysis updates the dumping point according to the boundary of the dumping area of ​​the external dumping field obtained by real-time identification, so that the distance between two adjacent dumping points is the set distance threshold; at the same time, it is determined in real time whether the amount of earth dumped at each dumping point exceeds the preset earth dumping amount threshold of each dumping point; if it exceeds, an instruction to trim the boundary of the dumping field and an instruction to stop dumping at the corresponding dumping point are sent; if it does not exceed, an instruction to continue dumping is issued;

[0028] Scheduling and path planning: Scheduling and path planning of unmanned driving equipment.

[0029] Furthermore, the data acquisition unit includes a data acquisition subunit in the spoil dump and a vehicle-mounted data acquisition subunit, wherein the data acquisition subunit in the spoil dump includes a movable base, a three-axis gimbal arranged on the top of the movable base, an RTK positioning main antenna, an RTK positioning directional antenna and a non-repetitive scanning radar, a fixed frame is fixed on the three-axis gimbal, the fixed frame includes a cross bar and a vertical bar, the vertical bar of the fixed frame is fixed at the center position of the three-axis gimbal, the vertical bar is perpendicular to the plane of the three-axis gimbal, the cross bar of the fixed frame is fixed on the vertical bar, the cross bar passes through the axis of the vertical bar, and the vertical bar and the cross bar are perpendicular to each other; the RTK positioning main antenna is vertically fixed on the top of the vertical bar, and the RTK positioning directional antenna and the non-repetitive scanning radar are respectively arranged At both ends of the crossbar, the RTK positioning direction antenna is perpendicular to the crossbar; the RTK receiver is set on the movable base; the vehicle-mounted data acquisition subunit includes an RTK receiver, which is respectively set on the top of the unmanned device; when collecting data, the movable base is moved to the center of the external dumping site, and the three-axis gimbal is adjusted by adjusting the motor on the three-axis gimbal to keep its plane always horizontal; then the three-axis gimbal is rotated around the axis where the vertical rod is located, so that the crossbar rotates around the vertical rod driven by the three-axis gimbal, rotating once in a clockwise direction every 1 second, and rotating 1° each time; when the crossbar does not rotate, the non-repetitive scanning radar starts scanning, and the duration of each scan of the non-repetitive scanning radar is 1 second. Effectively improve the efficiency and accuracy of dumping site boundary recognition.

[0030] Furthermore, the unmanned equipment in the scheduling and path planning includes unmanned mining trucks and unmanned bulldozers. The scheduling method of the unmanned mining trucks is:

[0031] Step 2-1: In the initial state, the unmanned mining trucks are lined up in order at the entrance and exit of the dumping site; they drive to the working dumping points in order; until there is an unmanned mining truck at each dumping point, the other unmanned mining trucks are lined up in order at the entrance and exit of the dumping site and wait;

[0032] Step 2-2: According to the formula:

[0033] Time 预计等待时间=Time 平均等待时间 -Time 当前排土点矿卡排土作业耗时

[0034] Calculate the estimated waiting time of each working soil discharge point in real time, sort the working soil discharge points according to the calculated estimated waiting time from small to large, and sort the corresponding soil discharge point numbers according to the estimated waiting time from small to large; get the soil discharge point sequence; where Time 平均等待时间 is the arithmetic mean of the historical earth dumping time of unmanned mine trucks, Time 当前排土点矿卡排土作业耗时 It is equal to the current time minus the time when the unmanned mine truck arrives at the dumping point and starts the dumping operation;

[0035] Step 2-3: Sort the unmanned mining trucks in the unmanned mining truck fleet waiting at the entrance and exit of the spoil dump from the smallest to the largest according to the distance between each unmanned mining truck and the entrance and exit of the spoil dump, and obtain a sequence of waiting unmanned mining trucks;

[0036] Step 2-4: dispatch the unmanned mine trucks in the waiting unmanned mine truck sequence to the corresponding numbered soil discharge points in the soil discharge point sequence in order to discharge soil; until each soil discharge point in the soil discharge point sequence is arranged with an unmanned mine truck for soil discharge. This improves the soil discharge efficiency of the entire soil discharge field.

[0037] The present invention also provides a computer-readable medium for storing software, wherein the software includes instructions that can be executed by one or more computers, and the instructions enable the one or more computers to perform operations through such execution, and the operations include the process of the unmanned scheduling method for an external discharge type spoil dump as described in any one of claims 7-9.

[0038] Beneficial effects: Compared with the prior art, the present invention sets up an unmanned data collection base station at the dispatched spoil dump, cooperates with the spoil dump area boundary recognition algorithm of the central dispatch center and the soil pile volume calculation algorithm of the central dispatch center, and automatically dispatches the tasks of bulldozers and mining trucks for transporting earth according to the planning of the spoil dump construction and the earth pile situation at the spoil dump point. The use of sensors provided by unmanned mine trucks greatly saves the cost of map surveying and mapping without the need for aerial survey equipment. The unmanned dispatching system provided by the present invention only needs to manually input the spoil dump construction plan when the system is initialized, and then it can complete the dynamic task scheduling of various equipment involved in spoil dump operations without manual intervention. Compared with the unmanned dispatching system that relies on the experience of the dispatcher and requires manual intervention, it is more scientific and can truly reduce staff and increase efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic diagram of an unmanned dispatching system for an external dumping site provided by the present invention;

[0040] Figure 2 A schematic diagram of the overall structure of the data collection subunit in the dumping yard in the unmanned dispatching system of the external dumping yard provided by the present invention;

[0041] Figure 3 A schematic diagram of the structure of a partial data collection subunit in the dumping yard of the unmanned dispatching system of the external dumping yard provided by the present invention;

[0042] Figure 4 This is a schematic diagram of the scene in the dumping area of ​​the dumping site;

[0043] Figure 5 It is a schematic diagram of the dumping points in the dumping area of ​​the dumping site;

[0044] Figure 6 A schematic diagram of new dumping points in the dumping area of ​​the generated dumping site;

[0045] Figure 7 A schematic diagram of a movable base moving in a dumping area of ​​a dumping site under one condition;

[0046] Figure 8 The figure is a schematic diagram of the movement of the movable base in the dumping area of ​​the dumping ground in another case. DETAILED DESCRIPTION

[0047] The following will be combined with the accompanying drawings in the examples of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] like Figure 1 As shown, this embodiment provides an unmanned dispatching system for an external-type spoil dump, which mainly includes a data acquisition unit, a data transmission unit, a dispatching control unit and an unmanned driving device; the unmanned driving device includes an unmanned mine truck and an unmanned bulldozer; wherein the data acquisition unit is mainly used to collect the spoil area conditions of the external-type spoil dump of the mine and the position and movement data of the unmanned mine truck; the data transmission unit is mainly used to realize the transmission of data and control signals between the data acquisition unit and the dispatching control unit; the dispatching control unit is used to obtain the boundary of the spoil area of ​​the external-type spoil dump of the mine in real time according to the data collected by the data acquisition unit, and plan the transportation route of the unmanned mine truck according to the earth dumping amount of each spoil point of the external-type spoil dump, and dispatch the unmanned bulldozer to trim the spoil dump boundary.

[0049] The data collection unit includes a data collection subunit in the spoil dump and a vehicle-mounted data collection subunit. Figure 2-Figure 3 As shown, the data acquisition subunit 1 in the spoil dump mainly includes a movable base 11, a three-axis gimbal 12 arranged on the top of the movable base 11, an RTK positioning main antenna 13, an RTK positioning direction antenna 14, and a non-repetitive scanning radar 15. A fixing frame 16 is fixed on the three-axis gimbal 12. The fixing frame 16 is in a "cross" shape. The vertical rod 161 of the fixing frame 16 is fixed at the center position of the three-axis gimbal 12. The vertical rod 161 is perpendicular to the plane of the three-axis gimbal 12. The horizontal rod 162 of the fixing frame 16 is fixed on the vertical On the rod 161, the cross bar 162 passes through the axis of the vertical rod 161, and the vertical rod 161 and the cross bar 162 are perpendicular to each other; the RTK positioning main antenna 13 is vertically fixed on the top of the vertical rod 161, so that the RTK positioning main antenna 13 is rigidly connected to the center of the three-axis gimbal 12; the RTK positioning direction antenna 14 and the non-repetitive scanning radar 15 are respectively arranged at both ends of the cross bar 162, and the RTK positioning direction antenna 14 and the cross bar 162 are perpendicular to each other; the RTK receiver 17 is arranged on the movable base 11. In this embodiment, the movable base 11 is a movable iron tower.

[0050] When the data acquisition subunit 1 in the spoil dump starts to collect data, the movable base 11 is moved to the center position of the external discharge type spoil dump, and the three-axis gimbal 12 is adjusted by adjusting the motor on the three-axis gimbal 12 so that its plane always remains horizontal; then the three-axis gimbal 12 is rotated around the axis where the vertical rod 161 is located, so that the cross bar 162 rotates around the vertical rod 161 driven by the three-axis gimbal 12, and rotates once in the clockwise direction every 1 second, and rotates 1° each time; when the cross bar 162 does not rotate, the non-repetitive scanning radar 15 starts scanning, and each scan of the non-repetitive scanning radar 15 lasts for 1 second, and the scanned data is transmitted to the scheduling control unit in real time through the data transmission unit.

[0051] The vehicle-mounted data acquisition subunit includes an RTK receiver horizontally arranged on the top of the unmanned mining truck and an RTK receiver horizontally installed on the top of the unmanned bulldozer; the vehicle-mounted data acquisition subunit is mainly used to collect the RTK tracks of the unmanned mining truck and the unmanned bulldozer.

[0052] In this embodiment, the data transmission unit mainly adopts a 5G data transmission module, which is respectively arranged on the movable base 11, the unmanned mining truck and the unmanned bulldozer, and is mainly used for real-time data transmission.

[0053] The dispatch control unit is generally set on the terminal of the remote dispatch center. The dispatch control unit mainly includes the dumping area analysis subunit, the dumping point analysis subunit, and the dispatching and path planning subunit. The dumping area analysis subunit of the dumping field identifies the boundary of the dumping field area according to the data collected by the data collection subunit in the dumping field, and adjusts the position of the movable base 11 according to the recognition result; at the same time, the area of ​​the dumping field area is calculated to determine whether the current area of ​​the dumping field area reaches the planned area of ​​the dumping field. If it reaches the planned area of ​​the dumping field, a command is issued to stop dumping; if it does not reach the planned area of ​​the dumping field, the unmanned mining truck is controlled to continue dumping.

[0054] The dumping point analysis subunit determines in real time whether the amount of earth dumped at each dumping point exceeds the preset earth dumping amount threshold for each dumping point; if it exceeds, it sends instructions to the unmanned bulldozer to trim the dumping field boundary and generate a new dumping point; if it does not exceed, it continues to arrange the dumping.

[0055] The scheduling and path planning subunit mainly analyzes and plans the action paths of the unmanned mining truck, the unmanned bulldozer and the movable base 11 according to the received signals.

[0056] This embodiment discloses a scheduling method for an unmanned scheduling system based on an external dumping site, which is mainly divided into three parts: dumping area analysis of the dumping site; dumping point analysis and scheduling and path planning.

[0057] The dump area analysis of the dump includes the following steps:

[0058] Step 1-1: If Figure 4 As shown, the movable base in the data collection subunit in the dumping yard is moved to the center of the dumping area of ​​the current external dumping yard; the data collection subunit in the dumping yard starts to collect relevant data of the dumping area, and sends the collected data to the dumping area analysis subunit of the dumping yard in the scheduling control unit. The relevant data collected by the data collection subunit in the dumping yard include the longitude and latitude coordinates Position_RTK (Longitude, Latitude, Altitude) and the heading angle sequence Queue_Yaw of the RTK positioning main antenna 13 obtained by the RTK receiver; wherein Longitude represents the longitude of the RTK positioning main antenna 13, Latitude represents the latitude of the RTK positioning main antenna 13, and Altitude represents the altitude of the RTK positioning main antenna 13; heading angle sequence Queue_Yaw; point cloud sequence Queue_Pointcloud of the dumping area obtained by scanning the non-repetitive scanning radar 15;

[0059] The three-axis gimbal 12 in the data acquisition subunit in the dumping field rotates around the axis where the vertical rod 161 is located, so that the crossbar 162 rotates around the vertical rod 161 driven by the three-axis gimbal 12, rotating once in the clockwise direction every 1 second, and rotating 1° each time; when the crossbar 162 does not rotate, the non-repetitive scanning radar 15 starts scanning, and the duration of each scan of the non-repetitive scanning radar 15 is 1 second, and the scanned point cloud data is transmitted in real time to the dumping area analysis subunit of the dumping field in the scheduling control unit through the data transmission unit. Therefore, there are a total of 360 heading angles in the heading angle sequence Queue_Yaw, and the difference between each two adjacent heading angles is 1°; there are 360 ​​groups of point cloud data in the point cloud sequence Queue_Pointcloud of the dumping area, which correspond to the heading angles one by one; the data in the point cloud sequence Queue_Pointcloud of the dumping area is in the coordinate system of the non-repetitive scanning radar 15. Only by superimposing repeated point clouds can a dense and clear point cloud of the edge of the mine be obtained.

[0060] Step 1-2: The dump area analysis subunit of the dump area identifies the boundary of the dump area of ​​the dump area according to the received data; specifically, the following steps are included:

[0061] Step 1-21: Convert the longitude, latitude and altitude coordinates Position_RTK (Longitude, Latitude, Altitude) of the RTK positioning main antenna 13 to the UTM coordinate system to obtain the coordinates Position_RTK_UTM (Easting, Northing, Altitude) of the RTK positioning main antenna 13 in the UTM coordinate system;

[0062] Step 1-22: According to the formula Map_Pointcloud[i]=r i *(R*Queue_Pointcloud[i]+T) obtains the point cloud data in the spliced ​​point cloud map of the dumping area corresponding to the i-th heading angle; traverses all the data in the heading angle sequence Queue_Yaw and the point cloud sequence Queue_Pointcloud of the dumping area; obtains the spliced ​​point cloud map Map_Pointcloud{Map_Pointcloud[0], Map_Pointcloud[1], ..., Map_Pointcloud[i], ..., Map_Pointcloud

[359] } of the dumping area. Among them, Queue_Yaw[i] represents the i-th heading angle in the heading angle sequence; R represents the rotation matrix from the non-repetitive scanning radar 15 to the RTK positioning main antenna 13; T represents the translation matrix from the non-repetitive scanning radar 15 to the RTK positioning main antenna 13; Queue_Pointcloud[i] represents the i-th group of point cloud data in the point cloud sequence Queue_Pointcloud of the earth-draining area corresponding to the i-th heading angle.

[0063] Step 1-23: Extract the ground point cloud from the point cloud map Map_Pointcloud in the soil dumping area according to the ground extraction algorithm to obtain the ground point set Ground_Pointcloud.

[0064] The main method is to take all points whose Z-axis coordinates are equal to -Height_Tower in the spliced ​​point cloud map Map_Pointcloud of the soil dumping area as seed points according to the height Height_Tower set by the RTK positioning main antenna 13, and run the ground extraction algorithm in the spliced ​​point cloud map Map_Pointcloud of the soil dumping area to obtain the ground point set Ground_Pointcloud.

[0065] Step 1-24: Find the soil dumping area edge point set Point_Edge in the ground point set Ground_Pointcloud. The specific method is: take the projection point of the RTK positioning main antenna 13 on the ground as the center of the circle, and divide the ground into areas with equal central angles; among the points in the ground point set Ground_Pointcloud contained in each area, find the point farthest from the center of the circle. Then save the point in the soil dumping area edge point set Point_Edge. In this embodiment, the central angle is 0.1°.

[0066] Step 1-25: Convert all points in the dumping area edge point set Point_Edge to the UTM coordinate system to obtain the dumping area edge point set Point_Edge_UTM in the UTM coordinate system. The coordinates of the jth point Point_Edge_UTM[j] in the dumping area edge point set Point_Edge_UTM in the UTM coordinate system are (x j +Easting,y j +Northing,z j +Altitude); where x j ,y j and z j They are respectively the x-axis coordinate value, y-axis coordinate value and z-axis coordinate value of the j-th point Point_Edge[j] in the edge point set Point_Edge of the soil dumping area.

[0067] Step 1-26: Connect adjacent points in the dumping area edge point set Point_Edge_UTM in the UTM coordinate system in sequence to obtain the boundary of the dumping area of ​​the dumping yard.

[0068] Step 1-3: Determine whether the distance between the boundary of the dumping area of ​​the dumping yard and the non-repetitive scanning radar 15 is within the range of the non-repetitive scanning radar 15. If so, maintain the current dumping working state; if out of range, execute steps 1-4 to 1-5.

[0069] Step 1-4: Calculate the area of ​​the current dumping area, and determine whether the area of ​​the current dumping area reaches the planned area; if it does not reach the planned area, execute steps 1-5; if it reaches the planned area, the dumping work is completed and the unmanned mine truck discharging work is stopped.

[0070] Step 1-5: Send a command to move the movable substrate, wait until the movable substrate moves to a new position, and start a new round of data collection.

[0071] The dump area analysis of the dump includes the following steps:

[0072] Step 2-1: If Figure 5 As shown, the dumping point is set according to the boundary of the dumping area of ​​the dumping field; the distance between two adjacent dumping points is set. Figure 5 The five points A, B, C, D, and E are set as discharge points. The distance l between two adjacent discharge points can be set according to the formula: l = R*2 + 1 / 2d + L. In the formula, R represents the minimum turning radius of the unmanned mine truck, d represents the width of the unmanned mine truck, and L represents the additional safety distance. In this embodiment, the minimum turning radius of the unmanned mine truck is 11 meters, the width of the unmanned mine truck is 5 meters, and the additional safety distance is 10 meters. In this embodiment, the distance l between two adjacent discharge points can be set to 34.5 meters.

[0073] Step 2-2: Determine whether the current earth dumping quantity of each earth dumping point exceeds the earth dumping quantity threshold. If it does not exceed the earth dumping quantity threshold, maintain the earth dumping state of the earth dumping point; if it exceeds the earth dumping quantity threshold, execute steps 2-3 to 2-4.

[0074] Step 2-3: Stop the work at the dumping point and send an instruction to the unmanned bulldozer to trim the boundary of the corresponding dumping point;

[0075] Step 2-4: If Figure 6As shown, a new dumping point is generated according to the boundary of the dumping area of ​​the new dumping site, and A' in the figure is a new dumping point generated according to the boundary of the new dumping area after the trimming. Then the dumping work is carried out.

[0076] Scheduling and path planning are mainly divided into: unmanned mining truck scheduling, unmanned bulldozer scheduling and movable base action scheduling planning.

[0077] Among them, the unmanned bulldozer first moves to the dumping point where the amount of earth dumping exceeds the set threshold according to the received instructions, and flattens the excess earth in the direction of the dumping site planning.

[0078] The movable base is maintained in the center of the dumping area of ​​the dump, e.g. Figure 7-Figure 8 As shown, the dumping area of ​​the dumping yard in this embodiment expands along the planned direction. The dotted line in the figure represents the boundary of the new dumping area, so the movable base moves along the planned direction represented by the arrow.

[0079] The dispatch planning of unmanned mine trucks mainly includes:

[0080] Step 3-1: In the initial state, the unmanned mine trucks are lined up in order at the entrance and exit of the dumping site; and they go to the working dumping point in order;

[0081] Step 3-2: According to the formula:

[0082] Time 预计等待时间 =Time 平均等待时间 -Time 当前排土点矿卡排土作业耗时

[0083] Calculate the estimated waiting time of each working soil discharge point in real time, sort the working soil discharge points according to the calculated estimated waiting time from small to large, and sort the corresponding soil discharge point numbers according to the estimated waiting time from small to large; get the soil discharge point sequence; where Time 平均等待时间 is the arithmetic mean of the historical dumping operation time of the unmanned mine trucks, that is, the unmanned dispatching system of the external dumping field provided in this embodiment will record all historical data, and the sum of the dumping operation time of all the dumping operations recorded by the dispatching system is divided by the number of all the dumping operations recorded by the dispatching system to obtain Time 平均等待时间 When the unmanned mine truck arrives at the dumping point and starts dumping, it will send a dumping signal to the dispatching system. When the unmanned mine truck completes the dumping, it will send a dumping signal to the dispatching system. 当前排土点矿卡排土作业耗时 It is equal to the current time minus the time when the unmanned mine truck arrives at the dumping point and starts the dumping operation.

[0084] Step 3-3: sort the unmanned mining trucks in the unmanned mining truck fleet waiting at the entrance and exit of the spoil dump from the smallest to the largest according to the distance between each unmanned mining truck and the entrance and exit of the spoil dump, and obtain a sequence of waiting unmanned mining trucks;

[0085] Step 3-4: dispatch the unmanned mining trucks in the waiting unmanned mining truck sequence to the corresponding numbered discharge points in the discharge point sequence in order to discharge soil; that is, the first unmanned mining truck in the waiting unmanned mining truck sequence goes to the first discharge point in the discharge point sequence to discharge soil; the second unmanned mining truck in the waiting unmanned mining truck sequence goes to the second discharge point in the discharge point sequence to discharge soil; and so on, until each discharge point in the discharge point sequence is arranged with an unmanned mining truck for discharge soil.

[0086] The present invention also provides a computer-readable medium storing software, wherein the software includes instructions that can be executed by one or more computers, and the instructions enable the one or more computers to perform operations through such execution, and the operations include the process of the unmanned scheduling method for the aforementioned external discharge type spoil dump.

Claims

1. An unmanned dispatching system for an external dumping site, characterized in that: It includes data acquisition unit, data transmission unit, dispatch control unit and unmanned driving equipment; The data acquisition unit is used to collect the real-time data of the dumping area of ​​the mine's external dumping area and the location and movement data of the unmanned equipment; The data transmission unit is used to realize the transmission of data and control signals between the data acquisition unit, the dispatch control unit and the unmanned driving equipment; The dispatch control unit is used to identify the boundary of the dumping area of ​​the external dumping field of the mine in real time according to the data collected by the data collection unit; update the dumping point in real time according to the obtained boundary of the dumping area of ​​the external dumping field, and dispatch the unmanned driving equipment according to the dumping amount of each dumping point; The dispatch control unit includes a dumping area analysis subunit, a dumping point analysis subunit and a dispatching and path planning subunit of the dumping site; The dump area analysis subunit of the dump area identifies the boundary of the dump area of ​​the external dump area in real time according to the data collected by the data collection unit, and adjusts the position of the data collection unit according to the recognition result so that the data collection unit is located at the center of the dump area; at the same time, the area of ​​the current dump area is calculated to determine whether the area of ​​the current dump area reaches the planned area of ​​the dump area. If it reaches the planned area of ​​the dump area, an instruction is issued to stop dumping; if it does not reach the planned area of ​​the dump area, an instruction is issued to continue dumping; The dumping point analysis subunit updates the dumping point according to the boundary of the dumping area of ​​the external dumping field obtained by real-time identification, so that the distance between two adjacent dumping points is the set distance threshold; at the same time, it is judged in real time whether the amount of earth dumped at each dumping point exceeds the preset earth dumping amount threshold of each dumping point; if it exceeds, an instruction to trim the boundary of the dumping field and an instruction to stop dumping at the corresponding dumping point are sent; if it does not exceed, an instruction to continue dumping is issued; The scheduling and path planning subunit schedules the unmanned equipment and plans the action path.

2. The unmanned dispatching system for an external dumping site according to claim 1 is characterized in that: The data acquisition unit includes a data acquisition subunit in the spoil yard and a vehicle-mounted data acquisition subunit, wherein the data acquisition subunit in the spoil yard includes a movable base, a three-axis gimbal arranged on the top of the movable base, an RTK positioning main antenna, an RTK positioning directional antenna and a non-repetitive scanning radar, a fixed frame is fixed on the three-axis gimbal, the fixed frame includes a cross bar and a vertical bar, the vertical bar of the fixed frame is fixed at the center position of the three-axis gimbal, the vertical bar is perpendicular to the plane of the three-axis gimbal, the cross bar of the fixed frame is fixed on the vertical bar, the cross bar passes through the axis of the vertical bar, and the vertical bar and the cross bar are perpendicular to each other; the RTK positioning main antenna is vertically fixed on the top of the vertical bar, the RTK positioning directional antenna and the non-repetitive scanning radar are respectively arranged at both ends of the cross bar, and the RTK positioning directional antenna and the cross bar are perpendicular to each other; the RTK receiver is arranged on the movable base; the vehicle-mounted data acquisition subunit includes RTK receivers, which are respectively arranged on the top of the unmanned driving equipment.

3. The unmanned dispatching system for an external dumping site according to claim 2 is characterized in that: A method for identifying the boundaries of a dump area of ​​an external dump of a mine comprises the following steps: Step 1-1: Convert the longitude, latitude and altitude coordinates Position_RTK (Longitude, Latitude, Altitude) of the RTK positioning main antenna to the UTM coordinate system to obtain the coordinates Position_RTK_UTM (Easting, Northing, Altitude) of the RTK positioning main antenna in the UTM coordinate system; Step 1-2: According to the formula Map_Pointcloud[i]=r i *(R*Queue_Pointcloud[i]+T) obtains the point cloud data in the spliced ​​point cloud map of the dumping area corresponding to the i-th heading angle; traverses all the data in the heading angle sequence Queue_Yaw and the point cloud sequence Queue_Pointcloud of the dumping area; obtains the spliced ​​point cloud map Map_Pointcloud{Map_Pointcloud[0], Map_Pointcloud[1], ..., Map_Pointcloud[i], ..., Map_Pointcloud[359]} of the dumping area; wherein, Queue_Yaw[i] represents the i-th heading angle in the heading angle sequence; R represents the rotation matrix from the non-repetitive scanning radar to the RTK positioning main antenna; T represents the translation matrix from the non-repetitive scanning radar to the RTK positioning main antenna; Queue_Pointcloud[i] represents the i-th group of point cloud data in the point cloud sequence Queue_Pointcloud of the dumping area corresponding to the i-th heading angle; Step 1-3: Extract the ground point cloud from the point cloud map Map_Pointcloud in the soil dumping area according to the ground extraction algorithm to obtain the ground point set Ground_Pointcloud; Step 1-4: Find the dumping area edge point set Point_Edge in the ground point set Ground_Pointcloud; take the projection point of the RTK positioning main antenna on the ground as the center of the circle, and divide the ground into areas with equal central angles; among the points in the ground point set Ground_Pointcloud contained in each area, find the point farthest from the center of the circle; and save the point in the dumping area edge point set Point_Edge; Step 1-5: Convert all points in the dumping area edge point set Point_Edge to the UTM coordinate system to obtain the dumping area edge point set Point_Edge_UTM in the UTM coordinate system; Step 1-6: Connect the adjacent points in the dumping area edge point set Point_Edge_UTM in the UTM coordinate system in sequence to obtain the boundary of the dumping area of ​​the dumping yard.

4. The unmanned dispatching system for an external dumping site according to claim 3 is characterized in that: The central angle in steps 1-4 is 0.1°.

5. The unmanned dispatching system for an external dumping site according to claim 1 is characterized in that: Unmanned equipment includes unmanned mining trucks and unmanned bulldozers.

6. An unmanned dispatching method for an external dumping site, characterized in that: Including dumping area analysis of dumping grounds; dumping point analysis and scheduling and path planning; The dumping area analysis of the dumping yard uses the data collected by the data acquisition unit to identify the boundary of the dumping area of ​​the external dumping yard in real time, and adjusts the position of the data acquisition unit according to the recognition result so that the data acquisition unit is located in the center of the dumping area; at the same time, the area of ​​the current dumping area is calculated to determine whether the area of ​​the current dumping area reaches the planned area of ​​the dumping yard. If it reaches the planned area of ​​the dumping yard, an instruction is issued to stop dumping; if it does not reach the planned area of ​​the dumping yard, an instruction is issued to continue dumping; The dumping point analysis updates the dumping point according to the boundary of the dumping area of ​​the external dumping field obtained by real-time identification, so that the distance between two adjacent dumping points is the set distance threshold; at the same time, it is determined in real time whether the amount of earth dumped at each dumping point exceeds the preset earth dumping amount threshold of each dumping point; if it exceeds, an instruction to trim the boundary of the dumping field and an instruction to stop dumping at the corresponding dumping point are sent; if it does not exceed, an instruction to continue dumping is issued; Scheduling and path planning: Scheduling and path planning of unmanned driving equipment.

7. The unmanned dispatching method for an external dumping site according to claim 6 is characterized in that: The data acquisition unit includes a data acquisition subunit in the spoil field and a vehicle-mounted data acquisition subunit, wherein the data acquisition subunit in the spoil field includes a movable base, a three-axis gimbal arranged on the top of the movable base, an RTK positioning main antenna, an RTK positioning directional antenna and a non-repetitive scanning radar, a fixed frame is fixed on the three-axis gimbal, the fixed frame includes a cross bar and a vertical bar, the vertical bar of the fixed frame is fixed at the center position of the three-axis gimbal, the vertical bar is perpendicular to the plane of the three-axis gimbal, the cross bar of the fixed frame is fixed on the vertical bar, the cross bar passes through the axis of the vertical bar, and the vertical bar and the cross bar are perpendicular to each other; the RTK positioning main antenna is vertically fixed on the top of the vertical bar, the RTK positioning directional antenna and the non-repetitive scanning radar are respectively arranged on the cross bar and the vertical bar. The two ends of the pole, and the RTK positioning direction antenna and the cross pole are perpendicular to each other; the RTK receiver is arranged on the movable base; the vehicle-mounted data acquisition subunit includes an RTK receiver, which is respectively arranged on the top of the unmanned driving equipment; when collecting data, the movable base is moved to the center of the external discharge type spoil yard, and the three-axis pan-tilt is adjusted by adjusting the motor on the three-axis pan-tilt to keep its plane always horizontal; then the three-axis pan-tilt is rotated around the axis where the vertical pole is located, so that the cross pole rotates around the vertical pole driven by the three-axis pan-tilt, and rotates once in the clockwise direction every 1 second, and each time rotates 1°; when the cross pole does not rotate, the non-repetitive scanning radar starts scanning, and the duration of each scan of the non-repetitive scanning radar is 1 second.

8. The unmanned dispatching method for an external dumping site according to claim 6, characterized in that: The unmanned equipment in scheduling and path planning includes unmanned mining trucks and unmanned bulldozers. The scheduling method of unmanned mining trucks is: Step 2-1: In the initial state, the unmanned mining trucks are lined up in order at the entrance and exit of the dumping site; they drive to the working dumping points in order; until there is an unmanned mining truck at each dumping point, the other unmanned mining trucks are lined up in order at the entrance and exit of the dumping site and wait; Step 2-2: According to the formula: Time 预计等待时间 =Time 平均等待时间 -Time 当前排土点矿卡排土作业耗时 Calculate the estimated waiting time of each working soil discharge point in real time, sort the working soil discharge points according to the calculated estimated waiting time from small to large, and sort the corresponding soil discharge point numbers according to the estimated waiting time from small to large; get the soil discharge point sequence; where Time 平均等待时间 is the arithmetic mean of the historical earth dumping time of unmanned mine trucks, Time 当前排土点矿卡排土作业耗时 It is equal to the current time minus the time when the unmanned mine truck arrives at the dumping point and starts the dumping operation; Step 2-3: Sort the unmanned mining trucks in the unmanned mining truck fleet waiting at the entrance and exit of the spoil dump from the smallest to the largest according to the distance between each unmanned mining truck and the entrance and exit of the spoil dump, and obtain a sequence of waiting unmanned mining trucks; Step 2-4: dispatch the unmanned mining trucks in the waiting unmanned mining truck sequence to the corresponding numbered soil discharge points in the soil discharge point sequence in order to discharge soil; until each soil discharge point in the soil discharge point sequence is arranged with an unmanned mining truck for soil discharge.

9. A computer-readable medium storing software, characterized in that: The software includes instructions that can be executed by one or more computers, and the instructions enable the one or more computers to perform operations through such execution, and the operations include the process of the unmanned scheduling method for the external discharge type spoil dump as described in any one of claims 6-8.

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