Path planning method for strip mine large-span double-walking-mechanism equipment
Through the path planning method of rasterizing and prioritization function sorting of open-pit mine maps, the deviation problem arises during the walking of the equipment of the large-span double-walking mechanism of open-pit mines is solved, and the safe autonomous coordinated walking and optimal path of dual tracks are realized. Planning has improved the equipment's shift speed and operating efficiency.
Patent Information
- Application Number
- CN202411351281.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-26
- Publication Date
- 2025-02-07
AI Technical Summary
The existing open-pit mine large-span double-walking mechanism equipment is prone to problems such as deviation, fast walking, and improper cooperation during walking, resulting in large relative position deviation exceeding the maximum allowable deviation, resulting in equipment damage and low operating efficiency, and it is difficult to achieve manual operation. The double tracks walk completely together along the optimal route.
By using the path planning method, the latest road map of the open-pit mine is rasterized, the theoretical center point latitude and longitude of the two walking mechanisms of the equipment are obtained and converted into plane coordinates, the walking paths are filtered, and the priority function is used to make the path to be searched. Sort to get the optimal path.
It realizes safe, autonomous and coordinated walking of the dual-walking mechanism, provides the optimal path, improves the equipment's shifting speed and operating efficiency, and reduces the risk of manual operation.
Smart Images
Figure CN119396135A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of intelligent mines, and in particular relates to a path planning method for large-span dual-travel mechanism equipment in an open-pit mine. Background Art
[0002] Double-travel mechanism large-span equipment is mainly used in open-pit mine belt conveyor continuous transportation systems. The large-span equipment is moved by two crawler travel mechanisms. Each crawler travel mechanism has a supporting structure on the top. The two crawler travel mechanisms are supported at both ends of the same large-span truss through the upper supporting structure. One end of the truss is connected to one supporting structure in an articulated manner, and the other end of the truss is connected to another supporting structure in a sliding manner. The stroke of the sliding connection is the maximum allowable relative position deviation of the two crawler travel mechanisms.
[0003] Since the two crawler walking mechanisms need to move in full coordination, once the two crawler walking mechanisms of the large-span equipment deviate, move too fast, or miscoordinate, the large relative position deviation of the two crawler walking mechanisms will exceed the maximum allowable deviation, which will cause different damages to the upper truss and supporting structure. In the worst case, it will cause the belt conveyor in the truss to deviate, and in the worst case, it will cause deformation and failure of the truss, supporting structure, etc. Both situations will affect the health and operating efficiency of the equipment and endanger the reliable operation of the equipment and production safety.
[0004] At present, the movement direction and speed of the equipment are mainly controlled manually by remote control, which requires very high accuracy of manual operation, and it is difficult to achieve complete coordinated movement of the dual tracks along the optimal route. More importantly, once an error occurs in manual operation, it will cause significant losses. Summary of the invention
[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a path planning method for open-pit mine large-span double walking mechanism equipment, so as to achieve the coordinated movement of the two walking mechanisms of the open-pit mine large-span double walking mechanism equipment and improve the relocation speed of the double walking mechanism large-span equipment.
[0006] The technical solution adopted by the invention is: a path planning method for large-span double-travel mechanism equipment in an open-pit mine, the technical key points of which are as follows: The latest road map of the open-pit mine is rasterized, and the attribute of each grid is the elevation of the area; the longitude and latitude of the theoretical center points of the two walking mechanisms of the current equipment are obtained and converted into plane coordinates to finally obtain point pairs; the current equipment point pairs are added to the temporary path set to preliminarily screen the traversable paths; the priority function is used to sort the paths to be searched to obtain the optimal path.
[0007] Further, the following steps are included: Step 5 is the process of sorting the paths to be searched: Step 5.1, select the largest point pair in the temporary path set; Step 5.2, determine whether the absolute value of the point pair distance increment is less than the maximum allowable relative position deviation of the two crawler walking mechanisms of the self-propelled large-angle belt conveyor. If yes, continue; otherwise, delete the point pair; Step 5.3, determine whether all point pairs are end points, if yes, trace the parent node to the starting point and exit, otherwise continue; Step 5.4, take out a point pair from the temporary path set, take it as the current point pair, and put it into the final path set; Step 5.5, determine whether the related point set of the current point pair is not empty, where the related point set is the points adjacent to the current point pair. If so, continue, otherwise return to step 5.1; Step 5.6, the relevant point set is a set consisting of all areas that the walking system can reach at the next moment; determine whether the relevant point pair is neither in the temporary path set nor in the final path set, if so, continue, otherwise delete the relevant point pair and return to step 5.5; Step 5.7, calculate the priority of the relevant point pairs; Step 5.8, placing the relevant point pairs into a temporary path set; Step 5.9, the parent node of the relevant point pair is set as the current point pair, and the current point pair is deleted from the relevant point set, and the process returns to step 5.5.
[0008] Step 5.10, if both point pairs are end points, trace back the parent nodes from the end points to the starting points respectively, and the two point sets obtained are the routes planned by the two walking mechanisms of the long-span equipment. The beneficial effects of the present invention are: the path planning method for the open-pit mine large-span dual walking mechanism equipment rasterizes the latest road map of the open-pit mine, and the attribute of each grid is the elevation of the area; the longitude and latitude of the theoretical center points of the two walking mechanisms of the current equipment are obtained, and converted into plane coordinates, and finally the point pairs are obtained; the current equipment point pairs are added to the temporary path set, and the travelable paths are preliminarily screened; the priority function is used to sort the paths to be searched to obtain the optimal path.
[0009] This method provides an optimal path for the safe and autonomous coordinated walking of dual tracks of large-span equipment with dual walking mechanisms, which is safer and more reliable than manual operation. BRIEF DESCRIPTION OF THE DRAWINGS
[0010] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0011] Figure 1 This is a schematic diagram of a large-span double-travel mechanism device for an open-pit mine according to an embodiment of the present invention; Figure 2 It is a schematic plan view of two steps of an open-pit mine in an embodiment of the present invention; Figure 3 Schematic diagram of distance and position increment in an embodiment of the present invention; Figure 4 Flow chart of a path planning method in an embodiment of the present invention. DETAILED DESCRIPTION
[0012] To make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the following is a brief description of the present invention in conjunction with the attached Figure 1-4 The present invention is further described in detail with reference to the accompanying drawings and specific embodiments.
[0013] The path planning method for open-pit mine large-span dual-travel mechanism equipment adopted in this embodiment takes large-angle equipment as an example, and the steps of the trajectory planning method are as follows: Step 1: Install a vehicle-mounted computer containing a high-precision centimeter-level GNSS positioning module and a communication module on each of the traveling mechanisms on both sides of the belt conveyor. In order to achieve a good positioning effect, it is recommended that the vehicle-mounted computer be installed in the crawler control box, and the positioning antenna and communication antenna be installed on the top of the traveling mechanism; Step 2: The latest road map of the open-pit mine is stored in the on-board computer. The road map is rasterized using the Claude scanning algorithm. The attribute of each grid is the elevation of the area. In order to ensure the safety of equipment operation, the grid size should be less than 1m×1m. Step 3: The dual walking mechanisms obtain the longitude and latitude of the theoretical center points of the two walking mechanisms of the current device through a high-precision centimeter-level GNSS positioning module, and convert them into plane coordinates through the on-board computer. The Gauss-Kruger method is recommended for conversion, and finally the point pair (x1, y1, z1, x2, y2, z2) is obtained; Step 4: Add the current device point pair to the temporary path set. The purpose of the temporary path set is to preliminarily screen the traversable paths and reduce the search cost. Step 5, priority function f=g+h. The purpose of the priority function is to sort the paths to be searched. The algorithm gives priority to the paths with higher priorities to ensure that the optimal solution is found as much as possible. h is the Euclidean distance from the current point to the target, and g is the length of the route required to reach the current point from the starting point. Assume that the priority function f=0 for the current device point pair. Step 5.1, select the point pair with the largest f in the temporary path set; Step 5.2, determine whether the absolute value of the point pair distance increment is less than the maximum allowable relative position deviation of the two crawler walking mechanisms of the self-propelled large-angle belt conveyor. If yes, continue; otherwise, delete the point pair; Step 5.3, determine whether all point pairs are end points, if yes, trace the parent node to the starting point and exit, otherwise continue; Step 5.4, take out a point pair from the temporary path set, take it as the current point pair, and put it into the final path set; Step 5.5, determine whether the related point set of the current point pair is not empty, where the related point set is the points adjacent to the current point pair. If so, continue, otherwise return to step 5.1; Step 5.6: The relevant point set is the set of all areas that the walking system can reach at the next moment. Determine whether the relevant point pair is neither in the temporary path set nor in the final path set. If so, continue. Otherwise, delete the relevant point pair and return to step 5.5. Step 5.7, calculate the priority of the relevant point pairs; Step 5.8, placing the relevant point pairs into a temporary path set; Step 5.9, the parent node of the relevant point pair is set as the current point pair, and the current point pair is deleted from the relevant point set, and the process returns to step 5.5.
[0014] Step 5.10, if both point pairs are end points, trace back from the end points to the starting point, and the two point sets obtained are the routes planned by the algorithm for the two walking mechanisms of the long-span equipment. Following these two routes, the long-span equipment can be guaranteed to reach the destination as quickly and safely as possible.
[0015] A simulation experiment was conducted on two bench planes of a domestic open-pit mine. The bench surface model is as follows: Figure 2 As shown in the figure, the two walking mechanisms of the large-span dual walking mechanism equipment are placed on the upper and lower steps respectively. The walking mechanism distance is 100m, and the starting point and the end point are set. The relative position deviation of the walking mechanism is required to be less than 0.5m. The algorithm automatically finds the optimal path, and the relative position deviation is always less than 0.5m during the whole process. Figure 3 As shown, the effectiveness of this method is confirmed.
[0016] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.
Claims
1. A path planning method for large-span dual-travel mechanism equipment in an open-pit mine, characterized in that , including the following steps: The latest road map of the open-pit mine is rasterized, and the attribute of each raster is the elevation of the area; Obtain the longitude and latitude of the theoretical center points of the two walking mechanisms of the current device, convert them into plane coordinates, and finally obtain the point pair; add the current device point pair to the temporary path set to preliminarily screen the traversable paths; use the priority function to sort the paths to be searched and obtain the optimal path.
2. A path planning method for large-span dual-travel mechanism equipment in an open-pit mine according to claim 1, characterized in that , including the following steps: The process of sorting the paths to be searched is: Step 5.1, select the largest point pair in the temporary path set; Step 5.2, determine whether the absolute value of the point pair distance increment is less than the maximum allowable relative position deviation of the two crawler walking mechanisms of the self-propelled large-angle belt conveyor. If yes, continue; otherwise, delete the point pair; Step 5.3, determine whether all point pairs are end points, if yes, trace the parent node to the starting point and exit, otherwise continue; Step 5.4, take out a point pair from the temporary path set, take it as the current point pair, and put it into the final path set; Step 5.5, determine whether the related point set of the current point pair is not empty, where the related point set is the points adjacent to the current point pair. If so, continue, otherwise return to step 5.1; Step 5.6, the relevant point set is a set consisting of all areas that the walking system can reach at the next moment; determine whether the relevant point pair is neither in the temporary path set nor in the final path set, if so, continue, otherwise delete the relevant point pair and return to step 5.5; Step 5.7, calculate the priority of the relevant point pairs; Step 5.8, placing the relevant point pairs into a temporary path set; Step 5.9, the parent node of the relevant point pair is set as the current point pair, and the current point pair is deleted from the relevant point set, and the process returns to step 5.5; Step 5.10, if both point pairs are end points, trace back the parent nodes from the end points to the starting points respectively, and the two point sets obtained are the routes planned for the two walking mechanisms of the long-span equipment.