Mixed intersection intelligent management and control method for unmanned mine cars

Abstract

The invention relates to a mixed intersection intelligent management and control method for unmanned mine cars, and the method comprises the steps: collecting the current coordinates and current morphological parameters of a target unmanned mine car when the target unmanned mine car is detected to enter a mixed intersection; calculating a first current safety range of the target unmanned mine car according to the current coordinates and the current morphological parameters; acquiring a second current safety range of all started mine cars in front of the target unmanned mine car, and determining a target free area corresponding to the target unmanned mine car according to the first current safety range and the second current safety range; and updating the driving path and speed of the target unmanned mine car based on the target free area. According to the method, the running track and speed of the mine car in the system are updated in real time, the mine car is prevented from continuously working by adopting fixed parameters, and real-time dynamic adjustment of the control system is realized, so that when each mine car works, the whole path can carry out transportation at the highest running efficiency in an autonomous safe space area; therefore, the working efficiency of the whole mine transportation system is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned driving of transport vehicles, and in particular to an intelligent control method for mixed traffic intersections for unmanned mining vehicles. Background Art

[0002] The harsh working environment in the mining area, such as high temperature, cold, windy, and high risk, affects the drivers working in the mining area and brings severe challenges to the safe production of the mining area. With the development of unmanned open-pit mines, the control and route allocation of mining trucks and mining vehicles have become an extremely important part of unmanned mining areas. Among them, the traffic control of mining vehicles at mixed intersections is the core of vehicle control and route allocation.

[0003] The existing intelligent traffic control method for unmanned mixed intersections in open-pit mines uses the fixed path during the rehearsal and the various parameter indicators planned in advance, which are directly allocated to each group of vehicles, so that the vehicles can travel completely according to the fixed path and speed. However, in the operation of the mining area, a large number of uncontrollable external factors will occur, which will cause the mine car moving according to the rehearsal prescribed path to deviate. It is difficult to make quick and timely adjustments after the uncontrollable factors occur, which will cause confusion in the entire operation mode, resulting in the failure of the control method of the fixed parameters of the mine car, affecting the normal operation of the entire control method, and affecting the efficiency of mining and transportation. At the same time, if the fixed parameter control mode deviates in a small link and is not adjusted in time, it may cause a large number of overlaps in the running tracks of the mine cars, and the movement parameters of the mine cars remain unchanged, causing a large number of collisions between the mine cars, resulting in work paralysis and immeasurable economic losses to the mine. Summary of the invention

[0004] In order to solve or partially solve the problems existing in the related technology, the present application provides an intelligent control method for mixed traffic intersections for unmanned mining vehicles, which can realize real-time control of the predetermined driving trajectory and speed of the transport vehicle, dynamically allocate the free working area of ​​the vehicle, and realize real-time dynamic adjustment.

[0005] The first aspect of the present application provides an intelligent control method for mixed traffic intersections for unmanned mining vehicles, comprising the following steps:

[0006] When it is detected that the target unmanned mining vehicle is about to enter the mixed traffic intersection, the current coordinates and current shape parameters of the target unmanned mining vehicle are collected;

[0007] Calculate a first current safety range of the target unmanned mining vehicle according to the current coordinates and the current morphological parameters, wherein the current morphological parameters include size morphological variable parameters, movement direction, turning radius and control tolerance parameters;

[0008] Obtain the second current safety range of all the started mine cars in front of the target unmanned mine car, and determine the target free area corresponding to the target unmanned mine car according to the first current safety range and the second current safety range, wherein the target unmanned mine car travels at a preset maximum speed in the target free area and does not overlap with the travel paths of other unmanned mine cars;

[0009] Update the driving path and speed of the target unmanned mining vehicle based on the target free area.

[0010] The current safety range includes a dynamic safety range of at least one unmanned mining vehicle, the dynamic safety range is determined based on an envelope function, and the current safety range includes a first current safety range and a second current safety range.

[0011] Wherein, determining the dynamic safety range based on the envelope function includes the following steps:

[0012] Obtain the default safety range and driving trend of the target unmanned mining vehicle, and generate the safety range of each unmanned mining vehicle based on the envelope function;

[0013] Obtain the driving trajectory of the target unmanned mining vehicle and generate a safety envelope mapping space in the preview coordinates;

[0014] The safety envelope mapping space is updated in real time based on the current coordinates to obtain the dynamic safety range of the target unmanned mining vehicle.

[0015] The default safety range of a minecart is set to a 3-meter wide area around the minecart based on its size.

[0016] Each mine car is equipped with an on-board signal transceiver unit, a GPS communication positioning unit and an operation control system. It uses signal towers to send and receive signals and cooperates with terminal servers to monitor the position of the mine car and calculate the path.

[0017] The technical solution provided by this application may have the following beneficial effects:

[0018] 1. The present invention uses a signal receiving and transmitting unit, a GPS communication positioning unit and an operation control system, and utilizes a signal tower to transmit and receive signals. In cooperation with a terminal server, the driving trajectory and speed of all vehicles in the system can be updated in real time, thereby avoiding the situation where the mine car continues to work with fixed parameters and a disconnection collision occurs.

[0019] 2. The present invention uses the envelope function and envelope mapping space to preview the entire mine car running trajectory through the terminal server, thereby realizing real-time control of the predetermined driving trajectory and speed of the vehicle in the system, and further dynamically allocating the free working area of ​​the vehicle to avoid the occurrence of mine car collisions, that is, realizing real-time dynamic adjustment of the control system and improving the flexibility of the mine car control response.

[0020] 3. The present invention controls the independent parameters of each mine car in real time, so that each mine car can transport at the highest travel efficiency in the autonomous safety space area on the entire path when working, thereby greatly improving the working efficiency of the entire mine transportation system.

[0021] 4. The present invention can timely adjust the operating parameters of each mine car through precise preview and real-time parameter feedback update, thereby improving the flexibility, accuracy, reliability and safety of management and control.

[0022] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0024] Figure 1 It is a flow chart of the intelligent control method for mixed traffic intersections shown in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0026] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0027] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0028] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0029] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0030] like Figure 1 The method for intelligent control of mixed traffic intersections for unmanned mining vehicles shown in the figure comprises the following steps:

[0031] S1. When it is detected that the target unmanned mining vehicle is about to enter the mixed traffic intersection, the current coordinates and current shape parameters of the target unmanned mining vehicle are collected.

[0032] Each mine car is equipped with an on-board signal transceiver unit, a GPS communication and positioning unit, and an operation control system. A temporarily built signal tower is used to transmit signal commands between the signal transceiver unit, the GPS communication and positioning unit, the operation control system, and the terminal server. The terminal server is used to monitor the position of the mine car and calculate the path.

[0033] The terminal server uses an envelope function, which includes the vehicle's size and shape variable parameters, the vehicle's speed V, the vehicle's direction of movement, the turning radius, the GPS communication positioning unit coordinates, and the control tolerance parameters. The current shape parameters include all parameters that can satisfy the envelope function calculation.

[0034] The unmanned mining vehicles move on fixed tracks, and the initial tracks of all unmanned mining vehicles are established in the preview coordinates. The intersection of the tracks of the mining vehicles, that is, the overlapping paths, is defined as a mixed intersection, where two or more unmanned mining vehicles pass at the same time. A collection point is set in front of the mixed intersection, and the distance from the collection point to the mixed intersection can ensure the realization of the entire process of subsequent data collection by the unmanned mining vehicle and the acquisition of a new driving path and speed.

[0035] S2. Calculate the first current safety range of the target unmanned mining vehicle according to the current coordinates and current morphological parameters.

[0036] S3. Obtain the second current safety range of all the started mine cars in front of the target unmanned mine car, and determine the target free area corresponding to the target unmanned mine car according to the first current safety range and the second current safety range.

[0037] The target free zone means that there is only the movement track of the target unmanned mine car in this area, and there is no overlap of the running path track with other mine cars within the default safety range. The mine cars working in the target free zone can maintain the highest speed.

[0038] The first current safety range of the target unmanned mine car only includes its own dynamic safety range. If the target unmanned mine car is the first car, there is no started mine car in front of the target unmanned mine car, and there is no second current safety range. At this time, the target free area of ​​the target unmanned mine car is the dynamic safety range of the target unmanned mine car.

[0039] If the target unmanned mine car is not the first car, there is a started mine car in front of the target unmanned mine car, and there is a second current safety range. The second current safety range includes one or more dynamic safety ranges of one or more started mine cars. The multiple dynamic safety ranges and the dynamic safety range of the target unmanned mine car are all collected in the terminal server for measurement to obtain an updated motion path and driving speed.

[0040] The calculation of the current safety margin includes the following steps:

[0041] S31. Obtain the default safety range and driving trend of the target unmanned mining vehicle, and generate the safety range of the current target unmanned mining vehicle based on the envelope function.

[0042] S32, obtaining the driving trajectory of the target unmanned mining vehicle and generating a safety envelope mapping space in the preview coordinates;

[0043] S33. Based on the current coordinates, the safety envelope mapping space is updated in real time to obtain the dynamic safety range of the target unmanned mining vehicle.

[0044] The safety range of the target unmanned mining truck is determined by the size, driving trend and trajectory of the vehicle itself. Based on the size of the mining truck itself, an area 3 meters wide around the vehicle body is specified as the default safety range.

[0045] During the driving process from the collection point to the mixed traffic intersection, the envelope function is used to generate the safety range of the mine car itself according to the default safety range and driving trend of the target unmanned mine car.

[0046] A safety envelope mapping space is generated along the driving trajectory of the target unmanned mining vehicle, and a braking emergency collision avoidance distance is reserved at the end of the safe range path of each mining vehicle. The safety envelope mapping space is updated in real time based on the current coordinates, which is the dynamic safety range in real-time operation.

[0047] At the overlapping paths of each unmanned mine car, an intersecting trajectory is established in the preview coordinates. The anti-collision protocol activation area is set through the above-mentioned reserved braking collision avoidance distance range, and then the dynamic safety layer of the unmanned mine car operation with the minimum safety range is obtained based on the measurement to avoid collisions between unmanned mine cars at intersecting and overlapping paths.

[0048] S4. Update the driving path and speed of the target unmanned mining vehicle based on the target free area.

[0049] The terminal server uses the preview coordinates and the target free area to perform real-time measurement and update, and assigns the updated movement path and speed to the designated corresponding mining vehicles in the order of departure. The terminal server uses the envelope function to preview the trajectory and speed generated for movement, and establishes the space range in which each vehicle can move freely based on the approximate distribution of vehicle driving trajectories in the system, the current positions of all vehicles, and the vehicle's self-safety field parameters. Each mining vehicle uses the real-time sent and received instruction parameters, and uses the controller to specify the path and speed for operation, completing the transportation task at the highest operating speed and the optimal allocation route.

[0050] Finally, it should be noted that, in this article, relationships such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms include, include or any other variations are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0051] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0052] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An intelligent control method for mixed traffic intersections for unmanned mining vehicles, characterized in that: The following steps are involved: When it is detected that the target unmanned mining vehicle is about to enter the mixed traffic intersection, the current coordinates and current morphological parameters of the target unmanned mining vehicle are collected; Calculating a first current safety range of the target unmanned mining vehicle according to the current coordinates and the current morphological parameters, wherein the current morphological parameters include size morphological variable parameters, movement direction, turning radius, and control tolerance parameters; Acquire a second current safety range of all started mine cars ahead of the target unmanned mine car, and determine a target free area corresponding to the target unmanned mine car according to the first current safety range and the second current safety range, wherein the target unmanned mine car travels at a preset maximum speed in the target free area and does not overlap with the travel paths of other unmanned mine cars; The travel path and speed of the target unmanned mining vehicle are updated based on the target free area.

2. The intelligent control method for mixed traffic intersections for unmanned mining vehicles according to claim 1, characterized in that: The current safety range includes a dynamic safety range of at least one unmanned mining vehicle, the dynamic safety range is determined based on an envelope function, and the current safety range includes a first current safety range and a second current safety range.

3. The intelligent control method for mixed traffic intersections for unmanned mining vehicles according to claim 2, characterized in that: Determining the dynamic safety range based on the envelope function comprises the following steps: Obtaining the default safety range and driving trend of the target unmanned mining vehicle, and generating the safety range of each unmanned mining vehicle based on the envelope function; Acquire the driving trajectory of the target unmanned mining vehicle and generate a safety envelope mapping space in the preview coordinates; The safety envelope mapping space is updated in real time based on the current coordinates to obtain the dynamic safety range of the target unmanned mining vehicle.

4. The intelligent control method for mixed traffic intersections for unmanned mining vehicles according to claim 3 is characterized in that: The default safety range of the minecart is set to an area 3 meters wide on all sides of the minecart based on the size of the minecart.

5. The intelligent control method for mixed traffic intersections for unmanned mining vehicles according to claim 1 is characterized in that: Each of the mine cars is equipped with an on-board signal transceiver unit, a GPS communication positioning unit and an operation control system. It uses a signal tower to send and receive signals and cooperates with a terminal server to monitor the position of the mine car and calculate the path.

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