Mine card parking planning method and device and mine card

Abstract

The invention discloses a parking planning method and device for a mine card and the mine card, and aims to optimize the parking position of the mine card, enable the parking position of the mine card to be safe and guarantee the loading efficiency of an excavator. The parking planning method of the mine card comprises the following steps: acquiring an excavation working face and a travelable area of the mine card based on a target mine scene of mine card work; determining a safe reachable area of the mine truck according to the excavation working face and the travelable area; based on the mechanism characteristics of the excavator, high-quality working space of the excavator is obtained; based on the safe reachable area and the overlapped area of the high-quality working space of the excavator, the parking point of the mine truck is determined; wherein the working performance of the excavator in the high-quality working space is superior to that of the excavator in the non-high-quality working space; and planning a parking scheme of the mine card according to a preset starting point of the mine card and the parking point.

Description

Technical Field

[0001] The present application relates to the technical field of mining trucks, and in particular to a parking planning method and device for a mining truck, and a mining truck. Background Art

[0002] At present, the output of mineral resources is huge, and it can guarantee production and life. In mining production, the parking planning of mining trucks is a key link to ensure the efficiency and safety of mining operations. However, the on-site working conditions of the excavator working face during the earthwork stripping construction of open-pit mines are complex. If the mining truck is parked too close, it will cause the cargo box to collide with the slope of the working face. If it is parked too far, it will cause the excavator to load and the work efficiency will be low. It is impossible to provide a suitable parking place for the mining truck, which makes loading and unloading operations face many challenges. Summary of the invention

[0003] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a parking planning method and device for a mining truck and a mining truck, which can optimize the parking position of the mining truck, make the parking position of the mining truck safe and ensure the loading efficiency of the excavator.

[0004] According to a first aspect of the present application, a parking planning method for a mining truck is provided, comprising: obtaining an excavation working face and a drivable area of ​​the mining truck based on a target mining scene in which the mining truck is working; determining a safe accessible area of ​​the mining truck based on the excavation working face and the drivable area; obtaining a high-quality working space of the excavator based on the mechanical characteristics of the excavator; determining a parking point of the mining truck based on an overlapping area of ​​the safe accessible area and the high-quality working space of the excavator; wherein the working performance of the excavator in the high-quality working space is better than that in a non-high-quality working space; and planning a parking plan for the mining truck based on a preset starting point of the mining truck and the parking point.

[0005] As a possible implementation manner, the safe accessible area of ​​the mining truck is determined according to the excavation working face and the drivable area, including: taking an area in the drivable area and at a preset distance from the excavation working face as the safe accessible area.

[0006] As a possible implementation method, the parking point of the mining truck is determined based on the overlapping area of ​​the safe accessible area and the high-quality working space of the excavator, including: determining the parking area of ​​the mining truck based on the overlapping area of ​​the safe accessible area and the high-quality working space of the excavator; matching the working performance of the excavator in the parking area with the three positions of the cargo box center, front end and rear end of the mining truck based on the preset posture of the mining truck; when the working performance of the excavator at the three positions of the cargo box center, front end and rear end of the mining truck is greater than the preset working performance, determining the parking point of the mining truck.

[0007] As a possible implementation method, according to the preset starting point of the mining truck and the parking point, the parking plan of the mining truck is planned, and it also includes: generating a parking path according to the preset starting point of the mining truck and the parking point; based on the Dubins curve method, planning the spatial geometric route of the parking path of the mining truck; using a polynomial method to fit the relationship between the spatial geometric route and time, and solving to obtain the space-time trajectory from the starting posture to the end posture; wherein the starting posture includes the position and posture of the preset starting point, the position and posture of the intermediate transition point, and the end posture includes the position and posture of the intermediate transition point and the position and posture of the parking point, and the space-time trajectory reflects the movement path and state of the mining truck within the time and space range.

[0008] As a possible implementation method, a polynomial method is used to fit the relationship between the spatial geometric route and time, and the space-time trajectory from the starting posture to the end posture is solved, including: fitting the relationship between the spatial geometric route and time using a cubic polynomial to obtain a relationship between the parking path and time during the driving of a single parking route; based on the relationship between the parking path and time, obtaining a relationship between the speed and acceleration and time; based on the structural characteristics of the mining truck, obtaining the constraint conditions when the mining truck is parked; based on the relationship between the speed and acceleration and time and the constraint conditions, obtaining the space-time trajectory from the starting posture to the end posture.

[0009] As a possible implementation method, a parking path is generated according to the preset starting point of the mining truck and the parking point, including: between the preset starting point of the mining truck and the parking point, an intermediate transition point is set based on the operating condition of the mining truck; wherein the operating condition includes forward driving and reverse driving, the horizontal coordinate of the intermediate transition point is located between the preset starting point and the parking point, and the vertical coordinate of the intermediate transition point is set according to twice the turning radius of the mining truck; based on the intermediate transition point, the parking path between the preset starting point of the mining truck and the parking point is divided into two sections; wherein the first section is from the preset starting point to the intermediate transition point, and the second section is from the intermediate transition point to the parking point.

[0010] As a possible implementation method, the excavator includes a boom and an arm, and a high-quality working space of the excavator is obtained based on the mechanical characteristics of the excavator, including: determining the motion and force transfer indicators of the boom and the arm based on the mechanical characteristics of the excavator; obtaining comprehensive performance indicators based on the motion and force transfer indicators of the boom and the arm; wherein the comprehensive performance indicators are used to reflect the motion performance of the excavator; and generating a high-quality working space of the excavator based on high-quality comprehensive performance indicators among the comprehensive performance indicators that are greater than or equal to a preset threshold.

[0011] As a possible implementation method, based on the target mine scene where the mine truck works, the excavation working face and the drivable area of ​​the mine truck are obtained, including: based on the target mine scene where the mine truck works, the geometric features of the target excavation area are extracted to obtain the excavation working face; obstacles in the target mine scene where the mine truck works are identified, and the drivable area of ​​the mine truck is generated based on the positions of the obstacles.

[0012] According to a second aspect of the present application, a parking planning device for a mining truck is provided, comprising: a first acquisition module, for acquiring an excavation face and a drivable area of ​​the mining truck based on a target mining scene in which the mining truck is working; a first determination module, for determining a safe accessible area of ​​the mining truck based on the excavation face and the drivable area; a second acquisition module, for acquiring a high-quality working space of the excavator based on the mechanical characteristics of the excavator; a second determination module, for determining a parking point of the mining truck based on an overlapping area of ​​the safe accessible area and the high-quality working space of the excavator; wherein the working performance of the excavator in the high-quality working space is better than that in a non-high-quality working space; and a planning module, for planning a parking plan of the mining truck based on a preset starting point of the mining truck and the parking point.

[0013] According to a third aspect of the present application, a mining truck is provided, comprising: a cargo box; and a parking planning device for the mining truck as described in the second aspect above.

[0014] The parking planning method, device and mining truck of the present application comprehensively consider the excavation working surface, the drivable area and the high-quality working space of the excavator, and solve the parking point for the collaborative operation of the mining truck and the excavator. The mining truck can safely drive to the parking point based on the parking plan, and make the cargo box in the high-quality working space of the excavator. The excavator can efficiently complete material loading at the cargo box position, thereby achieving efficient collaborative operation of the mining truck and the excavator. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 It is a flowchart of a parking planning method for a mining truck provided by an exemplary embodiment of the present application.

[0017] Figure 2 It is a structural schematic diagram of an obstacle, a working surface, an unmanned excavator working space and a drivable area provided by an exemplary embodiment of the present application.

[0018] Figure 3 It is a structural schematic diagram of a parking planning device for a mining truck provided by an exemplary embodiment of the present application.

[0019] Figure 4 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0020] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0021] The present invention can be applied to a mining truck, which includes a cargo box and a parking planning device for the mining truck. The cargo box is used to provide a loading and unloading point for an excavator (such as an unmanned excavator), and can be coordinated with the comprehensive performance indicators of the excavator to determine the specific position of the cargo box, thereby determining the specific parking point. The parking planning device of the mining truck is used to determine the parking point of the mining truck based on the overlapping area of ​​the excavation working surface, the drivable area and the high-quality working space, and plan an efficient parking plan based on the starting point and the parking point, thereby ensuring parking safety and improving parking efficiency.

[0022] A mining truck is a mining truck. Mining trucks are an indispensable and important equipment in mining. They are responsible for transporting the mined ore, waste rock and other materials from the mining area to the processing site. In some embodiments, the mining truck can be an unmanned mining truck. With the rapid development of autonomous driving technology, unmanned mining trucks have gradually become a new choice for mining operations. Unmanned mining trucks are equipped with advanced sensors, control systems and communication technologies to achieve automatic driving and remote monitoring of mining trucks. Unmanned mining trucks can work 24 hours a day without considering the fatigue and shift problems of manual driving, thereby greatly improving production efficiency. In addition, through advanced sensors, control systems and communication technologies, unmanned mining trucks can achieve more accurate operation and scheduling, reduce waiting and idle time, and improve overall operating efficiency. In addition, the automated operation of unmanned mining trucks reduces the need for drivers, thereby reducing labor costs. Unmanned mining trucks avoid safety accidents caused by human operating errors through autonomous driving technology, significantly improving the safety of mining operations. This automated control reduces the risk of accidents caused by driver fatigue, distraction or misjudgment. Therefore, applying the parking planning method of mining trucks to unmanned mining trucks can achieve more accurate results and reduce labor costs.

[0023] Although there are unmanned mining trucks and intelligent unmanned mining trucks, the problem of coordinated construction between unmanned excavators and unmanned mining trucks has not been considered. In order to realize unmanned construction in mines, unmanned excavators and unmanned mining trucks must work together, and the on-site working conditions of the excavator working face during the earthwork stripping construction of open-pit mines are complex. If the mining truck is parked too close, it will cause the cargo box to collide with the slope of the working face. If it is parked too far, it will cause difficulty in loading the excavator and low work efficiency. Therefore, it is necessary to comprehensively consider the unmanned excavator, unmanned mining truck, working face, and road environment to carry out parking planning for unmanned mining trucks at the excavator working face. Figure 1 This is a parking planning method for a mining truck provided by an exemplary embodiment of the present application, see Figure 1 First, based on the target mining scene of the mining truck, the excavation working face and the drivable area of ​​the mining truck are obtained (S100), and then the safe accessible area of ​​the mining truck is determined based on the excavation working face and the drivable area (S200), and the high-quality working space of the excavator is obtained based on the structural characteristics of the excavator (S300), and the parking point of the mining truck is determined based on the overlapping area of ​​the safe accessible area and the high-quality working space of the excavator (S400). Among them, the working performance of the excavator in the high-quality working space is better than that in the non-high-quality working space. Finally, according to the preset starting point and parking point of the mining truck, the parking plan of the mining truck is planned (S500). According to the mechanism performance evaluation theory, the unmanned excavator working device has different mechanism performances at different positions in the working space. It can efficiently transmit motion and force at positions with good mechanism performance, and the motion transmission efficiency is low at positions with poor mechanism performance, which increases energy consumption and is easily disturbed by external effects. Therefore, when combining unmanned excavators to realize parking planning, it is also necessary to carry out kinematic modeling and performance evaluation analysis of the unmanned excavator working device to solve the high-quality working space with good mechanism performance, which provides a basis for optimizing the parking point location of unmanned mining trucks.

[0024] Combined with the following Figure 1 , a more detailed introduction is given to the parking planning method for a mining truck provided in an embodiment of the present application.

[0025] In S100, based on the target mine scene where the mining truck is working, the excavation working face and the drivable area of ​​the mining truck are obtained.

[0026] In some embodiments, a possible implementation method for obtaining the excavation working face and the drivable area of ​​the mining truck based on the target mining scene of the mining truck may be: based on the target mining scene of the mining truck, extract the geometric features of the target excavation area to obtain the excavation working face; identify obstacles in the target mining scene of the mining truck, and generate the drivable area of ​​the mining truck based on the location of the obstacles.

[0027] Based on the target mining scene of the mining truck, the geometric features of the target excavation area are extracted, and a possible implementation method for obtaining the excavation working face can be: for the target mining scene of the mining truck, the semantic segmentation method based on LiDAR can be used to extract the three-dimensional point cloud of the excavation working face, and then the geometric features of the excavation working face are modeled. When parking, the mining truck should avoid the excavation working face to avoid collision.

[0028] One possible implementation method for identifying obstacles in the target mine scene where the mining truck is working and generating the drivable area of ​​the mining truck based on the location of the obstacles may be: in the open-pit mine scene, the road on which the mining truck is traveling is an unstructured road with no lane lines, and the road conditions change dynamically. Therefore, the mining truck can use laser radar target detection technology to identify vehicle objects and use visual detection technology to identify objects such as pedestrians, accumulated water and fallen rocks, thereby obtaining the drivable area on the unstructured road, providing a basis for obstacle avoidance.

[0029] It is understandable that the method for obtaining the excavation working face and the drivable area of ​​the mining truck is not limited to the semantic segmentation method and lidar target detection technology of the above examples, and other target recognition technologies may also be used, such as image recognition technology, infrared recognition technology, and sonar recognition technology.

[0030] Continue to refer Figure 1 In S200, a safe accessible area of ​​the mining truck is determined based on the excavation working face and the drivable area.

[0031] In some embodiments, an area within the drivable area and at a preset distance from the excavation face is taken as a safe accessible area. The so-called safe accessible area means that for a mining truck, when the mining truck is driving on the ground, the area without obstacles is the drivable area, and it cannot hit the excavation face, and it needs to have a certain distance from the excavation face. However, while there is a certain distance from the excavation face, the location of the mining truck needs to be a position where the excavator can unload, so the next step is to further accurately position the mining truck in combination with the high-quality excavation space of the excavator.

[0032] Continue to refer Figure 1 , in S300 , based on the structural characteristics of the excavator, a high-quality working space of the excavator is obtained.

[0033] In some embodiments, the excavator may be an unmanned excavator, which is used to cooperate with an unmanned mining truck to realize unmanned intelligent excavation operations. The so-called high-quality working space of the excavator refers to a range, and the high-quality working space can ensure that the mechanical performance of the excavator is better than the mechanical performance in the non-high-quality working space, because when the parking position of the mining truck is determined in combination with the high-quality working space of the excavator, the movement performance of the excavator can be guaranteed to be in a better state, thereby improving the overall loading efficiency.

[0034] In other embodiments, the excavator includes a boom and a dipper stick. Based on the mechanism characteristics of the excavator, obtaining a high-quality working space of the excavator may include: determining the motion and force transmission indicators of the boom and the dipper stick based on the mechanism characteristics of the excavator; obtaining a comprehensive performance indicator based on the motion and force transmission indicators of the boom and the dipper stick; wherein the comprehensive performance indicator is used to reflect the motion performance of the excavator; and generating a high-quality working space of the excavator based on the high-quality comprehensive performance indicators greater than or equal to the preset threshold in the comprehensive performance indicators. Selecting a better performance indicator from the comprehensive performance indicators provided, and combining its coordinate position to form a high-quality working space, selecting the working coordinates of the excavator in the high-quality working space can ensure the motion performance of the excavator, and the high-quality working space can provide reference data for it when planning the parking position of the mining truck. For example, the so-called better performance indicator may be distributed in 0.4-0.7, and the high-quality working space may be defined as 0.55. All comprehensive performance indicators above 0.55 can be determined as better performance indicators. When the excavator is in a high-quality working space, the overall performance is better than other non-high-quality working spaces.

[0035] A possible implementation of S300 may be: the important components of the excavator for digging and loading include the boom mechanism, the dipper arm mechanism, the bucket mechanism and the slewing system. The motion and force transmission characteristic index includes the input transmission index (ITI) and the output transmission index (OTI), and the value range is [0, 1]. The motion and force transmission characteristic index uses the screw theory to describe the motion and force of the mechanism. The screw can be expressed as Formula 1:

[0036] $=(s;s 0 )=(s;r×s+hs)Formula 1;

[0037] In formula 1, s is a unit vector, representing the axis of the spinor, r is the vector from the origin of the coordinate system to the axis of the spinor, and h is the pitch of the spinor. The spinor of rotational motion is expressed as (ω; r×ω), where ω is the axis vector of rotational motion; the spinor of movement is expressed as (0; v), where ω is the axis vector of rotation. The spinor of a pure force is expressed as (f; r×f), where f is the direction vector of the pure force; the spinor of a pure couple is expressed as (0; τ), where τ represents the couple vector.

[0038] The reciprocal product operation of the spinor is formula 2:

[0039]

[0040] In formula 2, $1=(s1;s 01 ), $2=(s2;s 02), the reciprocal product of the motion spinor and the force spinor represents the power.

[0041] The input transfer index of the calculation organization is calculated using Formula 3:

[0042]

[0043] In formula 3, ITI is the input transfer index of the institution, $ I is the input motion rotation, $ T is the transmitted force screw, and the denominator is the apparent power of the input motion screw and the transmitted force screw, that is, the potential maximum power.

[0044] The output transfer index of the calculation mechanism adopts formula 4:

[0045]

[0046] In formula 4, OTI is the output transfer index of the institution, $ O is the output motion screw, $ T is the transmitted force screw.

[0047] The input transfer indexes of the boom mechanism, the arm mechanism, and the bucket mechanism are defined as ITI1, ITI2, and ITI3, respectively, and the output transfer indexes are defined as OTI1, OTI2, and OTI3, respectively. The dexterity index (DI) of the working device mechanism is defined as the absolute value of the sine value of the angle between the boom and the arm.

[0048] The dexterity index is calculated using Formula 5:

[0049] DI=|sin∠CFQ|Formula 5;

[0050] In Formula 5, DI represents the dexterity index, and sin∠CFQ represents the sine value of the angle between the boom and the stick.

[0051] In order to evaluate the comprehensive performance of unmanned excavators, the comprehensive performance index (CI) of the excavator working device is defined as the geometric mean of OTI1, OTI2 and DI.

[0052] The comprehensive performance index is calculated using formula 6:

[0053]

[0054] In Formula 6, CI represents the comprehensive performance index, OTI1 represents the output transmission index of the boom mechanism, OTI2 represents the output transmission index of the stick mechanism, and DI represents the dexterity index.

[0055] Continue to refer Figure 1In order to achieve high-quality loading performance of the excavator during loading, in S400, the parking point of the mining truck is determined based on the overlap area of ​​the safe accessible area and the high-quality working space of the excavator. The working performance of the excavator in the high-quality working space is better than that in the non-high-quality working space.

[0056] After the excavation face and the drivable area are superimposed to obtain the overlapped area, i.e. the safe accessible area of ​​the mining truck, it can be known that the safe accessible area of ​​the mining truck is an obstacle-free area and a safe area that will not touch the excavation face. However, in order to further optimize the parking point location and coordinate the excavator to achieve more efficient loading efficiency, the parking point of the mining truck can be determined in combination with the high-quality working space of the excavator. Figure 2 is a schematic diagram of the structure of obstacles, working surfaces, unmanned excavator working space and drivable area provided by an exemplary embodiment of the present application, with reference to Figure 2 , a spatial coordinate system can be generated based on the target mining scene, and the working surface, drivable area, obstacles and unmanned excavator working space can be placed in the spatial coordinate system to find the intersection. On the unstructured road where the mining truck is traveling, the obstacle point cloud can be determined, and the obstacle point cloud area can be marked (for example, with thick black lines in the figure). All areas except the marked obstacles are drivable areas. The excavator is on the upper surface of the working surface. The geometric shape of the unmanned excavator working space is a rotating body. The unmanned excavator has different mechanical performances at different positions in the unmanned excavator working space. By calculating the high-quality working space of the unmanned excavator, the parking point of the mining truck is sought in the intersection of it and the safe accessible area of ​​the mining truck, so that the mining truck can safely reach the parking point and be in the high-quality working space of the excavator, providing a basis for efficient loading.

[0057] In some embodiments, based on the overlapped area of ​​the safe accessible area and the high-quality working space of the excavator, determining the parking point of the mining truck may include: determining the parking area of ​​the mining truck based on the overlapped area of ​​the safe accessible area and the high-quality working space of the excavator; matching the working performance of the excavator in the parking area with the three positions of the cargo box center, front end, and rear end of the mining truck based on the preset posture of the mining truck; when the working performance of the excavator at the three positions of the cargo box center, front end, and rear end of the mining truck is greater than the preset working performance, the parking point of the mining truck is determined. The overlapped area is still a large area, and the parking coordinates of the mining truck cannot be specifically determined. Therefore, in order to ensure the full load rate and further determine the parking coordinates, unloading work can be selected at the three positions of the cargo box center, front end, and rear end. The comprehensive performance index of the unmanned excavator working device at the parking point is the minimum value of the cargo box center, front end, and rear end. At the intersection of the drivable area of ​​the unmanned mining truck and the high-quality working space of the unmanned excavator, the point with the largest comprehensive performance index of the unmanned excavator working device is taken as the parking point. According to the method, at least one parking point can be determined as the highest performance parking point for the mining truck to cooperate with the unmanned excavator.

[0058] It is understandable that, in addition to setting the working performance indicators of the excavator at the three positions of the cargo box center, front end and rear end of the mining truck, the unloading position can also be increased, decreased or modified, so as to match the comprehensive performance indicators of the excavator at different positions and determine the parking point of the mining truck. For example, if the unloading is only done at the front end and rear end of the mining truck, the parking point of the mining truck is determined only by matching the comprehensive performance indicators of the excavator at the front end and rear end.

[0059] Continue to refer Figure 1 In S500, a parking plan for the mining truck is planned according to the preset starting point and parking point of the mining truck. After the parking point is determined, the path and trajectory of the mining truck to the parking point need to be planned.

[0060] In some embodiments, planning a parking plan for a mining truck may include: generating a parking path according to a preset starting point and parking point of the mining truck; planning a spatial geometric route of the parking path of the mining truck based on the Dubins curve method; using a polynomial method to fit the relationship between the spatial geometric route and time, and solving the space-time trajectory from the starting posture to the end posture; wherein the starting posture includes the position and posture of the preset starting point, the position and posture of the intermediate transition point, and the end posture includes the position and posture of the intermediate transition point and the position and posture of the parking point, and the space-time trajectory reflects the movement path and state of the mining truck within the time and space range.

[0061] The so-called Dubins curve is a curve used to describe the shortest path of a rigid body (such as a wheeled robot, an airplane, an underwater vehicle, etc.) moving in a two-dimensional plane (XY plane). The curve connects two directed points (i.e., points with directional information) under the conditions of satisfying the curvature constraint and the specified starting and ending tangent directions, and assumes that the vehicle can only move forward. The Dubins curve can be expressed as a combination of three basic motion actions, namely, left turn (L), right turn (R), and straight (S). The combination of these actions forms a variety of possible path types, such as LSL, LSR, RSR, etc. Dubins proved that the shortest path is only selected from 6 curves, including LSL, LSR, RLR, RSR, RSL, and LRL. After the starting and ending positions of the unmanned mining truck are given, the path lengths of the six connection modes of the Dubins curve are calculated according to the Dubins curve method, and the shortest path is selected as the planning result.

[0062] The so-called space-time trajectory is a concept that combines time and space information, which is used to describe the path that a mining truck passes through in a specific time period. The space-time trajectory refers to the path that a mining truck changes over time in three-dimensional space (longitude, latitude, and altitude). It not only records the location information of the mining truck, but also contains a timestamp, so it can fully reflect the driving process of the mining truck. For example, the time information records the specific time of the mining truck at each location point, usually expressed in the form of year, month, day, hour, minute, and second. Spatial information includes the longitude, latitude, and (optional) altitude information of the mining truck, which together determine the specific location of the mining truck on the earth. In some cases, the space-time trajectory may also contain the speed information of the mining truck at each location point, which helps to have a more comprehensive understanding of the driving status of the mining truck. Based on the space-time trajectory, a complete parking plan for the mining truck can be formed, and the mining truck can complete a complete parking plan based on the space-time trajectory.

[0063] As an example, in the excavation working face, the mining truck is set to drive forward first, then reverse to the parking point, and then stop for loading. Therefore, it is necessary to set an intermediate transition point, the horizontal coordinate of the transition is between the starting point and the end point, and the vertical coordinate is set according to twice the turning radius of the unmanned mining truck. The Dubins curve is used to plan the path from the starting point to the transition point and the path from the transition point to the end point, that is, first drive forward from the starting point to the transition point, and then reverse from the transition point to the end point. Therefore, according to the preset starting point and parking point of the mining truck, one implementation method of generating a parking path may be: between the preset starting point and the parking point of the mining truck, based on the operating conditions of the mining truck, an intermediate transition point is set; wherein the operating conditions include driving forward and reversing backward, the horizontal coordinate of the intermediate transition point is between the preset starting point and the parking point, and the vertical coordinate of the intermediate transition point is set according to twice the turning radius of the mining truck; based on the intermediate transition point, the parking path between the preset starting point and the parking point of the mining truck is divided into two sections; wherein the first section of the path is from the preset starting point to the intermediate transition point, and the second section of the path is from the intermediate transition point to the parking point.

[0064] As an example, a polynomial method is used to fit the relationship between the spatial geometric route and time, and one implementation method to solve the space-time trajectory from the starting posture to the end posture may be: use a cubic polynomial to fit the relationship between the spatial geometric route and time, and obtain the relationship between the parking path and time during the driving of a single parking route; based on the relationship between the parking path and time, obtain the relationship between the speed and acceleration and time; based on the structural characteristics of the mining truck, obtain the constraint conditions when the mining truck is parked; based on the relationship between the speed and acceleration and the constraint conditions, obtain the space-time trajectory from the starting posture to the end posture.

[0065] The parking path planned according to the Dubins curve is the spatial geometric route from the starting position to the end position of the unmanned mining truck. Then, the polynomial method is used to fit the relationship between the parking path and time, and the space-time trajectory from the starting position to the end position is solved. The parking process is divided into two sections. The first section is forward driving and the second section is reverse driving. The lengths of the two sections are calculated respectively as the input of trajectory planning. The parking trajectory is fitted with a cubic polynomial, and the path changes with time during a single section (the first section or the second section):

[0066] s(t)=c1t 3 +c2t 2 +c3t+c4 cubic polynomial;

[0067] In the cubic polynomial, c1, c2, c3 and c4 represent the fitting coefficients, which are the unknowns that need to be calculated. t represents time. After the path is obtained, the spatial information is obtained, and the time information is required to instruct the mining truck to drive to the parking point.

[0068] By taking the derivative of the cubic polynomial, we can get the expressions of velocity and acceleration changing with time as Formula 1 and Formula 2:

[0069]

[0070] In formula 1 and formula 2, c1, c2 and c3 represent the fitting coefficients, which are unknowns that need to be calculated. t represents time, Indicates speed, Indicates acceleration.

[0071] The starting speed and the ending speed of the parking trajectory are both 0. Assuming that in the shortest time t min The parking path S can be completed within 10 seconds, and the maximum speed is v max , the maximum acceleration is a max , then the constraint conditions for unmanned mining truck parking trajectory planning are obtained as equation group 1:

[0072]

[0073] In equation group 1, v max represents the maximum speed, a max represents the maximum acceleration, Indicates speed, represents acceleration, and S represents the parking path.

[0074] Assume c2≤0.5a max , combining the above formulas, we get:

[0075]

[0076] By using Formula 3 and Formula 4, the minimum time and the track of the mining truck can be obtained. The parking track of the mining truck can be realized in the minimum time, which can improve the parking efficiency.

[0077] If the calculated value is c2>0.5a max , then let

[0078] c2=0.5a max

[0079] Combined, we get:

[0080] t min =0.5a max

[0081]

[0082] In one possible case, refer to the previous constraints: the maximum speed is v max , the maximum acceleration is a max , if c2>0.5a max, the calculated acceleration exceeds the maximum acceleration, and the trajectory fails and cannot be formed. Therefore, in this case (c2>0.5a max ), c2 needs to be reassigned so that the calculation can be realized.

[0083] In other possible implementations, unmanned mining trucks can use cab-less double-axle steering mining trucks, which have axisymmetry in mechanical structure and no distinction between the front and rear ends, that is, no distinction between forward and reverse, thus avoiding the need for reverse operation. Parking can be performed directly along the shortest path without setting intermediate transition points.

[0084] Figure 3 : is a schematic diagram of the structure of a parking planning device for a mining truck provided by an exemplary embodiment of the present application. Figure 3 As shown, the parking planning device 3 of the mining truck includes: a first acquisition module 31, which is used to acquire the excavation working face and the drivable area of ​​the mining truck based on the target mining scene of the mining truck; a first determination module 32, which is used to determine the safe accessible area of ​​the mining truck according to the excavation working face and the drivable area; a second acquisition module 33, which is used to acquire the high-quality working space of the excavator based on the mechanical characteristics of the excavator; a second determination module 34, which is used to determine the parking point of the mining truck based on the overlapping area of ​​the safe accessible area and the high-quality working space of the excavator; wherein the working performance of the excavator in the high-quality working space is better than the working performance in the non-high-quality working space; a planning module 35, which is used to plan the parking plan of the mining truck according to the preset starting point and parking point of the mining truck.

[0085] The parking planning device for a mining truck provided in the present application comprehensively considers the excavation working surface, the drivable area and the high-quality working space of the excavator, and solves for the parking point for the collaborative operation of the mining truck and the excavator. The mining truck can safely drive to the parking point based on the parking plan, and the cargo box is placed in the high-quality working space of the excavator. The excavator can efficiently complete material loading at the cargo box position, thereby achieving efficient collaborative operation of the mining truck and the excavator.

[0086] In one embodiment, the first determination module 32 may be configured to take an area in the drivable area and at a preset distance from the excavation working surface as a safe accessible area.

[0087] In one embodiment, the second determination module 34 can be configured as follows: determining the parking area of ​​the mining truck based on the overlapping area of ​​the safe accessible area and the high-quality working space of the excavator; matching the working performance of the excavator in the parking area with the three positions of the cargo box center, front end and rear end of the mining truck based on the preset posture of the mining truck; when the working performance of the excavator at the three positions of the cargo box center, front end and rear end of the mining truck is greater than the preset working performance, determining the parking point of the mining truck.

[0088] In one embodiment, the planning module 35 can be configured to: generate a parking path according to a preset starting point and parking point of the mining truck; plan the spatial geometric route of the parking path of the mining truck based on the Dubins curve method; use a polynomial method to fit the relationship between the spatial geometric route and time, and solve the space-time trajectory from the starting posture to the end posture; wherein the starting posture includes the position and posture of the preset starting point, the position and posture of the intermediate transition point, and the end posture includes the position and posture of the intermediate transition point and the position and posture of the parking point, and the space-time trajectory reflects the movement path and state of the mining truck within the time and space range.

[0089] In one embodiment, the planning module 35 can also be configured as follows: using a cubic polynomial to fit the relationship between the spatial geometric route and time, and obtaining a relationship between the parking path and time during the driving of a single parking route; based on the relationship between the parking path and time, obtaining a relationship between the speed and acceleration and time; based on the structural characteristics of the mining truck, obtaining the constraint conditions when the mining truck is parked; based on the relationship between the speed and acceleration and the constraint conditions, obtaining the space-time trajectory from the starting posture to the end posture.

[0090] In one embodiment, the planning module 35 can also be configured as follows: between the preset starting point and the parking point of the mining truck, an intermediate transition point is set based on the operating conditions of the mining truck; wherein the operating conditions include forward driving and reverse driving, the horizontal coordinate of the intermediate transition point is located between the preset starting point and the parking point, and the vertical coordinate of the intermediate transition point is set according to twice the turning radius of the mining truck; based on the intermediate transition point, the parking path between the preset starting point and the parking point of the mining truck is divided into two sections; wherein the first section of the path is from the preset starting point to the intermediate transition point, and the second section of the path is from the intermediate transition point to the parking point.

[0091] In one embodiment, the second acquisition module 33 can be configured as follows: based on the mechanical characteristics of the excavator, determine the motion and force transfer indicators of the boom and the boom; based on the motion and force transfer indicators of the boom and the boom, obtain comprehensive performance indicators; wherein the comprehensive performance indicators are used to reflect the motion performance of the excavator; based on high-quality comprehensive performance indicators in the comprehensive performance indicators that are greater than or equal to a preset threshold, generate a high-quality working space for the excavator.

[0092] In one embodiment, the first acquisition module 31 can be configured to: extract the geometric features of the target excavation area based on the target mine scene where the mining truck is working, and obtain the excavation working face; identify obstacles in the target mine scene where the mining truck is working, and generate a drivable area for the mining truck based on the location of the obstacles.

[0093] An electronic device, the electronic device comprising: a processor; a memory for storing instructions executable by the processor; and the processor, for executing the parking planning method for a mining truck described in the embodiment provided in the present application.

[0094] Below, reference Figure 4 The electronic device according to the embodiment of the present application is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signal from them.

[0095] Figure 4 A block diagram of an electronic device according to an embodiment of the present application is illustrated.

[0096] like Figure 4 As shown, the electronic device 40 includes one or more processors 41 and a memory 42 .

[0097] The processor 41 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 40 to perform desired functions.

[0098] The memory 42 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 41 may run the program instructions to implement the parking planning method for the mining truck of each embodiment of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0099] In one example, the electronic device 40 may further include: an input device 43 and an output device 44, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0100] When the electronic device is a stand-alone device, the input device 43 may be a communication network connector for receiving collected input signals from the first device and the second device.

[0101] In addition, the input device 43 may also include, for example, a keyboard, a mouse, etc.

[0102] The output device 44 can output various information to the outside, including the determined distance information, direction information, etc. The output device 44 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0103] Of course, to simplify, Figure 4 Only some of the components related to the present application in the electronic device 40 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 40 may also include any other appropriate components.

[0104] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0105] A computer-readable storage medium stores a computer program, and the computer program is used to execute the parking planning method for a mining truck described in the embodiment provided in the present application.

[0106] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0107] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A parking planning method for a mining truck, characterized in that: include: Based on the target mining scene where the mining truck is working, obtain the excavation working face and the drivable area of ​​the mining truck; Determining a safe accessible area of ​​the mining truck according to the excavation working surface and the drivable area; Based on the structural characteristics of the excavator, obtain the high-quality working space of the excavator; Determine the parking point of the mining truck based on the overlapped area of ​​the safe accessible area and the high-quality working space of the excavator; wherein the working performance of the excavator in the high-quality working space is better than the working performance in the non-high-quality working space; A parking plan for the mining truck is planned according to the preset starting point of the mining truck and the parking point.

2. The parking planning method for a mining truck according to claim 1, characterized in that: Determining a safe accessible area of ​​a mining truck according to the excavation working surface and the drivable area includes: The safe accessible area is an area within the drivable area and spaced a preset distance from the excavation working surface.

3. The parking planning method for a mining truck according to claim 1, characterized in that: Based on the overlapped area of ​​the safe accessible area and the high-quality working space of the excavator, the parking point of the mining truck is determined, including: Determine a parking area for the mining truck based on the overlapped area of ​​the safe accessible area and the high-quality working space of the excavator; Based on the preset posture of the mining truck, the working performance of the excavator in the parking area is matched respectively at the center, front end and rear end of the cargo box of the mining truck; When the working performance of the excavator at three positions, namely, the center, the front end, and the rear end of the cargo box of the mining truck, is greater than the preset working performance, the parking point of the mining truck is determined.

4. The parking planning method for a mining truck according to claim 1, characterized in that: According to the preset starting point of the mining truck and the parking point, a parking plan for the mining truck is planned, which also includes: Generate a parking path according to the preset starting point of the mining truck and the parking point; Based on the Dubins curve method, the spatial geometric route of the parking path of the mining truck is planned; The polynomial method is used to fit the relationship between the spatial geometric route and time, and the space-time trajectory from the starting posture to the end posture is solved; wherein the starting posture includes the position and posture of the preset starting point, the position and posture of the intermediate transition point, and the end posture includes the position and posture of the intermediate transition point and the position and posture of the parking point. The space-time trajectory reflects the movement path and state of the mining truck within the time and space range.

5. The parking planning method for a mining truck according to claim 4, characterized in that: The relationship between the spatial geometric route and time is fitted by using a polynomial method to obtain the space-time trajectory from the starting position to the end position, including: Using a cubic polynomial to fit the relationship between the spatial geometric route and time, to obtain a relationship between the parking path and time during the driving process of a single parking route; Based on the relationship between the parking path and time, the relationship between the speed and acceleration and time is obtained; Based on the structural characteristics of the mining truck, the constraints of the mining truck parking are obtained; Based on the relationship between velocity and acceleration over time and the constraint conditions, a spatiotemporal trajectory from the starting position to the end position is obtained.

6. The parking planning method for a mining truck according to claim 4, characterized in that: Generate a parking path according to the preset starting point of the mining truck and the parking point, including: Between the preset starting point of the mining truck and the parking point, an intermediate transition point is set based on the operating conditions of the mining truck; wherein the operating conditions include forward driving and reverse driving, the horizontal coordinate of the intermediate transition point is located between the preset starting point and the parking point, and the vertical coordinate of the intermediate transition point is set according to twice the turning radius of the mining truck; Based on the intermediate transition point, the parking path between the preset starting point of the mining truck and the parking point is divided into two paths; wherein the first path is from the preset starting point to the intermediate transition point, and the second path is from the intermediate transition point to the parking point.

7. The parking planning method for a mining truck according to claim 1, characterized in that: The excavator includes a boom and a dipper stick. Based on the structural characteristics of the excavator, a high-quality working space for the excavator is obtained, including: Based on the mechanical characteristics of the excavator, determine the movement and force transmission indicators of the boom and dipper arm; Based on the motion and force transmission indexes of the boom and the stick, a comprehensive performance index is obtained; wherein the comprehensive performance index is used to reflect the motion performance of the excavator; Based on the high-quality comprehensive performance indicators that are greater than or equal to a preset threshold among the comprehensive performance indicators, a high-quality working space of the excavator is generated.

8. The parking planning method for a mining truck according to claim 1, characterized in that: Based on the target mine scene where the mining truck is working, obtain the excavation working face and the drivable area of ​​the mining truck, including: Based on the target mine scene where the mining truck is working, the geometric features of the target excavation area are extracted to obtain the excavation working face; Obstacles in a target mine scene where a mining truck is working are identified, and a drivable area for the mining truck is generated based on the positions of the obstacles.

9. A parking planning device for a mining truck, characterized in that: include: The first acquisition module is used to acquire the excavation working face and the drivable area of ​​the mining truck based on the target mining scene where the mining truck is working; A first determination module is used to determine a safe accessible area of ​​the mining truck according to the excavation working surface and the drivable area; A second acquisition module is used to acquire a high-quality working space of the excavator based on the structural characteristics of the excavator; A second determination module is used to determine the parking point of the mining truck based on the overlap area of ​​the safe accessible area and the high-quality working space of the excavator; wherein the working performance of the excavator in the high-quality working space is better than the working performance in the non-high-quality working space; The planning module is used to plan a parking plan for the mining truck according to the preset starting point of the mining truck and the parking point.

10. A mining card, characterized in that: include: Cargo box; A parking planning device for a mining truck as described in claim 9 above.

Images