Transfer conveyor following control method and system for automatically following dew mining machine
By combining the automatic follow-up control method of IMU sensors, GPS modules and radar positioning devices, the problems of insufficient positioning accuracy and lag in open-pit coal mines are solved, and efficient and safe coordinated operations between the reposter and the exposed mining machine are achieved.
Patent Information
- Application Number
- CN202510436180.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-08
- Publication Date
- 2025-07-29
AI Technical Summary
The existing automatic follower system has problems such as insufficient positioning accuracy, delayed reaction, poor environmental adaptability and insufficient safety in open-pit coal mines. Especially under complex terrain and bad weather conditions, the coordinated work between the reprinter and the exposed mining machine is unstable, and there is a risk of equipment collision.
The positioning system combined with IMU sensor and GPS module is adopted, and the trajectory sample curve is generated by combining the Bezier curve. The radar positioning device is used to adjust the movement path and speed of the reposter in real time to ensure the accurate follow of the reposter and the exposed harvester.
The reprinter is efficient and precisely followed by the open-pit mining machine, ensuring efficient and safe transportation of coal mining operations in open-pit mines and reducing the risk of equipment collisions.
Smart Images
Figure CN120382906A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of coal mining in open-pit coal mines, and particularly to a transfer machine following control method and system for automatically following an open-pit coal mining machine. Background Art
[0002] The coal mining operation in an open-pit coal mine relies on an open-pit coal mining machine for coal mining, and the mined coal is transported from the mining point to subsequent processing links through a series of equipment. In this process, the transfer machine, as a key equipment, is responsible for transferring the coal collected by the open-pit coal mining machine to the downstream link. Therefore, it is particularly important to ensure that the transfer machine can work stably and efficiently in coordination with the open-pit coal mining machine.
[0003] The existing automatic following systems rely on single GPS or IMU positioning, resulting in large errors under complex terrain or bad weather conditions, and the problem of insufficient positioning accuracy; in the traditional system, when the speed or steering of the open-pit coal mining machine changes, the response of the transfer machine is not timely enough; the traditional automatic following system is greatly affected by the environment (such as obstacles, terrain changes, weather changes, etc.), resulting in unstable automatic following effects; the traditional system may not be able to detect and avoid obstacles in time, and there is a risk of equipment collision or misoperation. Therefore, there is an urgent need to propose a solution that can perform automatic following with high precision. Summary of the Invention
[0004] This application provides a transfer machine following control method and system for automatically following an open-pit coal mining machine to at least solve the technical problems of insufficient positioning accuracy, lagging response, poor environmental adaptability, and insufficient safety.
[0005] The first aspect of the embodiments of this application proposes a transfer machine following control method for automatically following an open-pit coal mining machine, and the method includes:
[0006] Collect the initial acceleration information of the open-pit coal mining machine by using an IMU sensor installed on the chassis of the open-pit coal mining machine, and collect the initial speed information, initial position information, and initial heading angle of the open-pit coal mining machine by using a GPS module installed on the chassis of the open-pit coal mining machine;
[0007] Determine the target position information of the open-pit coal mining machine according to the initial position information of the open-pit coal mining machine, the initial speed information of the open-pit coal mining machine, and the initial heading angle;
[0008] Obtain the initial position information of the transfer machine, and determine the moving path of the transfer machine according to the initial position information of the transfer machine and the target position information of the open-pit coal mining machine;
[0009] Determine the target moving speed and target heading angle of the transfer machine based on the moving path of the transfer machine and the initial acceleration information and initial velocity information of the open-pit mining machine, and control the transfer machine to move following the open-pit mining machine based on the target moving speed and target heading angle.
[0010] Preferably, the target position information of the open-pit mining machine includes: the coordinate point of the target position of the open-pit mining machine;
[0011] Among them, the calculation formula of the coordinate point of the target position of the open-pit mining machine is as follows:
[0012] x 目标 = x c + v x,c × cosθ c × t
[0013] y 目标 = y c + v y,c × cosθ c × t
[0014] In the formula, x 目标 is the value of the target position of the open-pit mining machine on the X-axis, x c is the value of the initial position of the open-pit mining machine on the X-axis, v x,c is the value of the initial velocity of the open-pit mining machine on the X-axis, θ c is the initial heading angle of the open-pit mining machine, t is the time interval, y 目标 is the value of the target position of the open-pit mining machine on the y-axis, y c is the value of the initial position of the open-pit mining machine on the y-axis, v y,c is the value of the initial velocity of the open-pit mining machine on the y-axis.
[0015] Furthermore, the determining the moving path of the transfer machine according to the initial position information of the transfer machine and the target position information of the open-pit mining machine includes:
[0016] Based on the initial position information of the transfer machine and the target position information of the open-pit mining machine, and using the Bezier curve equation to generate each trajectory sample curve;
[0017] Determine the path cost of each trajectory sample curve, and sort the each trajectory sample curve in ascending order of path cost from left to right to form a curve sequence;
[0018] Take the first trajectory sample curve on the left in the curve sequence as the moving path of the transfer machine.
[0019] Furthermore, the determining the target moving speed and target heading angle of the transfer machine according to the moving path of the transfer machine and the initial acceleration information and initial velocity information of the open-pit mining machine includes:
[0020] Obtain the moving heading angle of the transfer machine based on the moving path of the transfer machine, and use the moving heading angle as the target heading angle of the transfer machine;
[0021] Determine the target moving speed of the transfer machine based on the initial speed and initial acceleration information of the open-pit mining machine.
[0022] Furthermore, the method further includes:
[0023] Collect the relative position information between the transfer machine and the open-pit mining machine by using radar positioning devices installed at the four corners of the feeding port of the transfer machine respectively;
[0024] Judge whether the follow-up control of the transfer machine is accurate based on the relative position information.
[0025] An embodiment of the second aspect of the present application provides a transfer machine follow-up control system for automatically following an open-pit mining machine, including:
[0026] A collection module, configured to collect the initial acceleration information of the open-pit mining machine by using an IMU sensor installed on the chassis of the open-pit mining machine, and collect the initial speed information, initial position information, and initial heading angle of the open-pit mining machine by using a GPS module installed on the chassis of the open-pit mining machine;
[0027] A first determination module, configured to determine the target position information of the open-pit mining machine according to the initial position information, the initial speed information, and the initial heading angle of the open-pit mining machine;
[0028] A second determination module, configured to obtain the initial position information of the transfer machine, and determine the moving path of the transfer machine according to the initial position information of the transfer machine and the target position information of the open-pit mining machine;
[0029] A third determination module, configured to determine the target moving speed and target heading angle of the transfer machine according to the moving path of the transfer machine and the initial acceleration information and initial speed information of the open-pit mining machine, and control the transfer machine to follow the open-pit mining machine to move based on the target moving speed and target heading angle.
[0030] Preferably, the target position information of the open-pit mining machine includes: the coordinate point of the target position of the open-pit mining machine;
[0031] Wherein, the calculation formula of the coordinate point of the target position of the open-pit mining machine is as follows:
[0032] x 目标 = x c + v x,c × cosθ c × t
[0033] y 目标= y c + v y,c × cosθ c × t
[0034] where x 目标 is the value of the target position of the surface miner on the X-axis, and x c is the value of the initial position of the surface miner on the X-axis, v x,c is the value of the initial velocity of the surface miner on the X-axis, θ c is the initial heading angle of the surface miner, t is the time interval, and y 目标 is the value of the target position of the surface miner on the y-axis, and y c is the value of the initial position of the surface miner on the y-axis, v y,c is the value of the initial velocity of the surface miner on the y-axis.
[0035] Furthermore, the second determination module is further configured to:
[0036] Generate each trajectory sample curve based on the initial position information of the transfer machine and the target position information of the surface miner, and using the Bessel curve equation;
[0037] Determine the path cost of each trajectory sample curve, and sort the each trajectory sample curve in ascending order of path cost from left to right to form a curve sequence;
[0038] Take the leftmost first trajectory sample curve in the curve sequence as the movement path of the transfer machine.
[0039] An embodiment of the third aspect of the present application provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the method described in the embodiment of the first aspect is implemented.
[0040] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method described in the embodiment of the first aspect is implemented.
[0041] The technical solutions provided by the embodiments of the present application at least bring the following beneficial effects:
[0042] This application proposes a following control method and system for a transfer machine that automatically follows a surface mining machine. The method includes: using an IMU sensor installed on the chassis of the surface mining machine to collect the initial acceleration information of the surface mining machine, and using a GPS module installed on the chassis of the surface mining machine to collect the initial speed information, initial position information, and initial heading angle of the surface mining machine; determining the target position information of the surface mining machine according to the initial position information, the initial speed information, and the initial heading angle of the surface mining machine; obtaining the initial position information of the transfer machine, and determining the movement path of the transfer machine according to the initial position information of the transfer machine and the target position information of the surface mining machine; determining the target movement speed and target heading angle of the transfer machine according to the movement path of the transfer machine and the initial acceleration information and initial speed information of the surface mining machine, and controlling the transfer machine to follow the surface mining machine based on the target movement speed and target heading angle. The technical solution proposed by this application can ensure that the transfer machine can efficiently and accurately follow the surface mining machine, realizing the efficient and safe transportation of surface coal mining operations.
[0043] Additional aspects and advantages of this application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of this application. Brief Description of the Drawings
[0044] The above and / or additional aspects and advantages of this application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:
[0045] Figure 1 FIG. is a flowchart of a following control method for a transfer machine that automatically follows a surface mining machine according to an embodiment of this application;
[0046] Figure 2 FIG. is a first structural diagram of a following control system for a transfer machine that automatically follows a surface mining machine according to an embodiment of this application;
[0047] Figure 3 FIG. is a second structural diagram of a following control system for a transfer machine that automatically follows a surface mining machine according to an embodiment of this application. Detailed Description of the Embodiments
[0048] The embodiments of this application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain this application and should not be construed as limiting this application.
[0049] A transfer machine following control method and system for automatically following an open-pit mining machine proposed in this application. The method includes: collecting the initial acceleration information of the open-pit mining machine by using an IMU sensor installed on the chassis of the open-pit mining machine, and collecting the initial speed information, initial position information, and initial heading angle of the open-pit mining machine by using a GPS module installed on the chassis of the open-pit mining machine; determining the target position information of the open-pit mining machine according to the initial position information, the initial speed information, and the initial heading angle of the open-pit mining machine; obtaining the initial position information of the transfer machine, and determining the moving path of the transfer machine according to the initial position information of the transfer machine and the target position information of the open-pit mining machine; determining the target moving speed and target heading angle of the transfer machine according to the moving path of the transfer machine and the initial acceleration information and initial speed information of the open-pit mining machine, and controlling the transfer machine to follow the open-pit mining machine to move based on the target moving speed and target heading angle. The technical solution proposed in this application can ensure that the transfer machine can efficiently and accurately follow the open-pit mining machine, realizing the efficient and safe transportation of open-pit coal mining operations.
[0050] The following describes a transfer machine following control method for automatically following an open-pit mining machine according to an embodiment of the present application with reference to the accompanying drawings.
[0051] Embodiment 1
[0052] Figure 1 The flowchart of a transfer machine following control method for automatically following an open-pit mining machine according to an embodiment of the present application is as Figure 1 shown, and the method includes:
[0053] Step 1: Collect the initial acceleration information of the open-pit mining machine by using an IMU sensor installed on the chassis of the open-pit mining machine, and collect the initial speed information, initial position information, and initial heading angle of the open-pit mining machine by using a GPS module installed on the chassis of the open-pit mining machine;
[0054] Step 2: Determine the target position information of the open-pit mining machine according to the initial position information, the initial speed information, and the initial heading angle of the open-pit mining machine;
[0055] In the embodiment of the present disclosure, the target position information of the open-pit mining machine includes: the coordinate point of the target position of the open-pit mining machine;
[0056] Among them, the calculation formula of the coordinate point of the target position of the open-pit mining machine is as follows:
[0057] x 目标 = x c + v x,c × cosθ c × t
[0058] y 目标 = y c + vy,c × cosθ c × t
[0059] Wherein, x 目标 is the value of the target position of the surface mining machine on the X-axis, and x c is the value of the initial position of the surface mining machine on the X-axis, and v x,c is the value of the initial velocity of the surface mining machine on the X-axis, and θ c is the initial heading angle of the surface mining machine, t is the time interval, and y 目标 is the value of the target position of the surface mining machine on the y-axis, and y c is the value of the initial position of the surface mining machine on the y-axis, and v y,c is the value of the initial velocity of the surface mining machine on the y-axis.
[0060] Step 3: Obtain the initial position information of the transfer machine, and determine the movement path of the transfer machine according to the initial position information of the transfer machine and the target position information of the surface mining machine;
[0061] In the embodiments of the present disclosure, determining the movement path of the transfer machine according to the initial position information of the transfer machine and the target position information of the surface mining machine includes:
[0062] Based on the initial position information of the transfer machine and the target position information of the surface mining machine, and using the Bezier curve equation to generate each trajectory sample curve;
[0063] Determine the path cost of each trajectory sample curve, and sort the each trajectory sample curve in ascending order of path cost from left to right to form a curve sequence;
[0064] Take the leftmost first trajectory sample curve in the curve sequence as the movement path of the transfer machine.
[0065] It should be noted that the maximum time prediction value is set as MAXT, the minimum time prediction value is set as MINT, the maximum road width is set as MaxWidth, and the coordinates of the starting point, a control point, and the ending point are respectively (x c , y c ), (x1, y1), (x 目标 , y 目标 )
[0066] With the road width sampling frequency as D_RoadWidth and the time sampling frequency as DT, in the interval Ti ∈ [MINT, MAXT], inside, sample according to the states of the starting point, a control point, and the ending point, and generate trajectory sample curves according to the Bezier curve equation.
[0067] Step 4: Determine the target moving speed and target heading angle of the transfer machine based on the moving path of the transfer machine, the initial acceleration information, and the initial velocity information of the open-pit mining machine, and control the transfer machine to move following the open-pit mining machine based on the target moving speed and target heading angle.
[0068] In the embodiment of the present disclosure, the determining the target moving speed and target heading angle of the transfer machine according to the moving path of the transfer machine, the initial acceleration information, and the initial velocity information of the open-pit mining machine includes:
[0069] Obtain the moving heading angle of the transfer machine based on the moving path of the transfer machine, and use the moving heading angle as the target heading angle of the transfer machine;
[0070] Determine the target moving speed of the transfer machine based on the initial velocity and initial acceleration information of the open-pit mining machine.
[0071] In the embodiment of the present disclosure, the method further includes:
[0072] Collect the relative position information between the transfer machine and the open-pit mining machine by using radar positioning devices installed at the four corners of the feed inlet of the transfer machine respectively;
[0073] Judge whether the following control of the transfer machine is accurate based on the relative position information.
[0074] It should be noted that 4 sets of radar positioning devices are installed to collect relative positions and dynamic data between the open-pit mining machine and the transfer machine in real time.
[0075] The installation positions of the 4 sets of radar positioning devices are the four corners of the feed inlet of the transfer machine, and the coordinates are: front left (0, 0, 1.5 m), front right (4.0 m, 0, 1.5 m), rear left (0, 3.5 m, 1.5 m), rear right (4.0 m, 3.5 m, 1.5 m).
[0076] The parameter configuration of the radar positioning device can be:
[0077] Long-distance mode: detection distance of 120 m, horizontal field of view ±60°, vertical field of view ±15°, resolution of 0.1 m, update frequency of 20 Hz.
[0078] Short-distance mode: detection distance of 20 m, horizontal field of view ±90°, vertical field of view ±30°, resolution of 0.05 m, used for near-field obstacle avoidance.
[0079] Installation angle calibration:
[0080] Pitch angle: -5°;
[0081] Horizontal alignment: Ensure seamless stitching of the four-radar fields of view through a laser calibrator.
[0082] The transfer machine following control method for automatically following an open-pit mining machine proposed in this embodiment solves the problems of positioning, reaction lag, poor environmental adaptability, and insufficient safety in automatic following in a complex mining area environment, ensuring efficient and safe transportation in open-pit coal mining operations.
[0083] In summary, the transfer machine following control method for automatically following an open-pit mining machine proposed in this embodiment can ensure that the transfer machine can follow the open-pit mining machine efficiently and accurately, realizing efficient and safe transportation in open-pit coal mining operations.
[0084] Embodiment Two
[0085] Figure 2 As shown in the structural diagram of a transfer machine following control system for automatically following an open-pit mining machine provided according to an embodiment of the present application, Figure 2 as shown, the system includes:
[0086] An acquisition module 100, configured to acquire the initial acceleration information of the open-pit mining machine by using an IMU sensor installed on the chassis of the open-pit mining machine, and acquire the initial speed information, initial position information, and initial heading angle of the open-pit mining machine by using a GPS module installed on the chassis of the open-pit mining machine;
[0087] A first determination module 200, configured to determine the target position information of the open-pit mining machine according to the initial position information of the open-pit mining machine, the initial speed information of the open-pit mining machine, and the initial heading angle;
[0088] A second determination module 300, configured to acquire the initial position information of the transfer machine, and determine the movement path of the transfer machine according to the initial position information of the transfer machine and the target position information of the open-pit mining machine;
[0089] A third determination module 400, configured to determine the target movement speed and target heading angle of the transfer machine according to the movement path of the transfer machine and the initial acceleration information and initial speed information of the open-pit mining machine, and control the transfer machine to follow the open-pit mining machine to move based on the target movement speed and target heading angle.
[0090] It should be noted that the target position information of the open-pit mining machine includes: the coordinate point of the target position of the open-pit mining machine;
[0091] Among them, the calculation formula of the coordinate point of the target position of the open-pit mining machine is as follows:
[0092] x 目标 = x c + v x,c × cosθ c × t
[0093] y 目标 = yc +v y,c × cosθ c × t
[0094] In the formula, x 目标 is the value of the target position of the surface miner on the X-axis, and x c is the value of the initial position of the surface miner on the X-axis, v x,c is the value of the initial velocity of the surface miner on the X-axis, θ c is the initial heading angle of the surface miner, t is the time interval, and y 目标 is the value of the target position of the surface miner on the y-axis, and y c is the value of the initial position of the surface miner on the y-axis, v y,c is the value of the initial velocity of the surface miner on the y-axis.
[0095] In the embodiments of the present disclosure, the second determination module 300 is further configured to:
[0096] Generate each trajectory sample curve based on the initial position information of the transfer machine and the target position information of the surface miner, and using the Bezier curve equation;
[0097] Determine the path cost of each trajectory sample curve, and sort the each trajectory sample curve in ascending order of path cost from left to right to form a curve sequence;
[0098] Take the leftmost first trajectory sample curve in the curve sequence as the moving path of the transfer machine.
[0099] In the embodiments of the present disclosure, the third determination module 400 is further configured to:
[0100] Obtain the moving heading angle of the transfer machine based on the moving path of the transfer machine, and take the moving heading angle as the target heading angle of the transfer machine;
[0101] Determine the target moving speed of the transfer machine based on the initial velocity and initial acceleration information of the surface miner.
[0102] In the embodiments of the present disclosure, as Figure 3 shown, the system further includes: a judgment module 500;
[0103] The judgment module 500 is configured to:
[0104] Collect the relative position information between the transfer machine and the surface miner by using the radar positioning devices installed at the four corners of the feed inlet of the transfer machine respectively;
[0105] Judge whether the follow-up control of the transfer machine is accurate based on the relative position information.
[0106] In summary, the transfer machine following control system for automatically following an open-pit mining machine proposed in this embodiment can ensure that the transfer machine can follow the open-pit mining machine efficiently and accurately, achieving efficient and safe transportation in open-pit coal mining operations.
[0107] Embodiment III
[0108] To implement the above embodiment, the present disclosure also proposes an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the method described in Embodiment I is implemented.
[0109] Embodiment IV
[0110] To implement the above embodiment, the present disclosure also proposes a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method described in Embodiment I is implemented.
[0111] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.
[0112] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a customized logic function or process. The scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed. This should be understood by those skilled in the art of the embodiments of the present application.
[0113] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.
Claims
1. An automatic following control method for a transfer machine following an open-pit mining machine, characterized in that, The method includes: Collecting the initial acceleration information of the open-pit mining machine by using an IMU sensor installed on the chassis of the open-pit mining machine, and collecting the initial speed information, initial position information and initial heading angle of the open-pit mining machine by using a GPS module installed on the chassis of the open-pit mining machine; Determining the target position information of the open-pit mining machine according to the initial position information, the initial speed information and the initial heading angle of the open-pit mining machine; Obtaining the initial position information of the transfer machine, and determining the movement path of the transfer machine according to the initial position information of the transfer machine and the target position information of the open-pit mining machine; Determining the target movement speed and target heading angle of the transfer machine according to the movement path of the transfer machine, the initial acceleration information and the initial speed information of the open-pit mining machine, and controlling the transfer machine to move following the open-pit mining machine based on the target movement speed and the target heading angle.
2. The method according to claim 1, wherein The target position information of the open-pit mining machine includes: the coordinate points of the target position of the open-pit mining machine; Wherein, the calculation formula of the coordinate points of the target position of the open-pit mining machine is as follows: x 目标 = x c + v x,c × cosθ c × t y 目标 = y c + v y,c × cosθ c × t Where x 目标 is the value of the target position of the open-pit mining machine on the X-axis, and x c is the value of the initial position of the open-pit mining machine on the X-axis. v x,c is the value of the initial velocity of the open-pit mining machine on the X-axis. θ c is the initial heading angle of the open-pit mining machine, t is the time interval, and y 目标 is the value of the target position of the open-pit mining machine on the y-axis, and y c is the value of the initial position of the open-pit mining machine on the y-axis. v y,c is the value of the initial velocity of the open-pit mining machine on the y-axis.
3. The method according to claim 2, wherein The determining the movement path of the transfer machine according to the initial position information of the transfer machine and the target position information of the open-pit mining machine includes: Generating each trajectory sample curve by using the initial position information of the transfer machine and the target position information of the open-pit mining machine and using the Bezier curve equation; Determining the path cost of each trajectory sample curve, and sorting the each trajectory sample curve in ascending order of path cost from left to right to form a curve sequence; Taking the first trajectory sample curve on the left in the curve sequence as the movement path of the transfer machine.
4. The method according to claim 3, wherein The determining the target movement speed and target heading angle of the transfer machine according to the movement path of the transfer machine, the initial acceleration information and the initial speed information of the open-pit mining machine includes: Obtaining the movement heading angle of the transfer machine based on the movement path of the transfer machine, and taking the movement heading angle as the target heading angle of the transfer machine; Determining the target movement speed of the transfer machine based on the initial speed and initial acceleration information of the open-pit mining machine.
5. The method according to claim 4, characterized in that, The method further includes: Respectively collecting the relative position information between the transfer machine and the open-pit mining machine by using radar positioning devices installed at the four corners of the feeding port of the transfer machine; Judging whether the following control of the transfer machine is accurate based on the relative position information.
6. An automatic following control system for a transfer machine following an open-pit mining machine, characterized in that, The system includes: A collection module, configured to collect the initial acceleration information of the open-pit mining machine by using an IMU sensor installed on the chassis of the open-pit mining machine, and collect the initial speed information, initial position information and initial heading angle of the open-pit mining machine by using a GPS module installed on the chassis of the open-pit mining machine; A first determination module, configured to determine the target position information of the open-pit mining machine according to the initial position information, the initial speed information and the initial heading angle of the open-pit mining machine; A second determination module, configured to obtain the initial position information of the transfer machine, and determine the movement path of the transfer machine according to the initial position information of the transfer machine and the target position information of the open-pit mining machine; A third determination module, configured to determine a target moving speed and a target heading angle of the transfer machine according to the moving path of the transfer machine and the initial acceleration information and initial speed information of the open-pit mining machine, and control the transfer machine to follow the open-pit mining machine to move based on the target moving speed and the target heading angle.
7. The system according to claim 6, wherein The target position information of the open-pit mining machine includes: the coordinate points of the target position of the open-pit mining machine; Wherein, the calculation formula of the coordinate points of the target position of the open-pit mining machine is as follows: x 目标 = x c + v x,c × cosθ c × t y 目标 = y c + v y,c × cosθ c × t where x 目标 is the value of the target position of the open-pit mining machine on the X-axis, and x c is the value of the initial position of the open-pit mining machine on the X-axis, v x,c is the value of the initial velocity of the open-pit mining machine on the X-axis, θ c is the initial heading angle of the open-pit mining machine, t is the time interval, and y 目标 is the value of the target position of the open-pit mining machine on the y-axis, and y c is the value of the initial position of the open-pit mining machine on the y-axis, v y,c is the value of the initial velocity of the open-pit mining machine on the y-axis.
8. The system according to claim 7, wherein The second determination module is further configured to: Generate each trajectory sample curve based on the initial position information of the transfer machine and the target position information of the open-pit mining machine, and by using the Bessel curve equation; Determine the path cost of each trajectory sample curve, and sort the trajectory sample curves in ascending order of path cost from left to right to form a curve sequence; Use the first trajectory sample curve on the left in the curve sequence as the moving path of the transfer machine.
9. An electronic device, characterized in that, Comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1-5 is implemented.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, the method according to any one of claims 1-5 is implemented.