Mining electric shovel safe loading method based on unmanned operation

Abstract

The invention discloses a mining electric shovel safe loading method based on unmanned operation. The mining electric shovel safe loading method comprises the following steps that a three-dimensional rectangular coordinate system O-XYZ is established; a sensor and an RTK principle are utilized to obtain coordinates of a central point of a bottom line of a mining electric shovel bucket and minimum values of projection distances of coordinates of a central point and four corner points of a mining dump truck bucket on an xOy plane; meanwhile, the maximum turning radius of the body of the electric shovel and the farthest distance and the nearest distance of the bucket at the specific height are determined; a safety anti-collision strategy is constructed, an electric shovel rotating mechanism is controlled to act according to the relative distance, and collision accidents are avoided; planning drop point coordinates of an automatic loading strategy under different shovel numbers are formulated, so that the materials are uniformly distributed. The operation safety and the loading efficiency of the unmanned mining electric shovel are improved, the applicability is wide, and the technology integration degree is high.

Description

Technical Field

[0001] The invention relates to a safe loading method for a mining electric shovel based on unmanned operation, belonging to the technical field of mining machinery automation. Background Art

[0002] In open-pit mining, discontinuous processes are widely used due to their flexibility and adaptability. Electric mining shovels, key equipment for discontinuous mining in open-pit mines, offer advantages such as high output, high energy efficiency, and a long service life. However, due to their harsh working environment and high vibration intensity, operators are prone to fatigue and physical discomfort, resulting in low efficiency and even accidents. With the development of science and technology and policy encouragement, research on unmanned electric shovels is imperative. Safe loading methods for electric mining shovels in unmanned mode are crucial.

[0003] Currently, publicly available anti-collision technologies for mining electric shovels have certain technical limitations. For example, Chinese patents 201811119171.0 and 202111312433.7 both achieve anti-collision between the bucket and the machine body through position limiting, speed control, or posture detection, but do not consider the dynamic relative position relationship between the electric shovel and the mining car. Chinese patent 202410573824.1 uses millimeter-wave radar to monitor obstacles, but does not integrate efficient loading planning. Chinese patent 202410027340.7 proposes process optimization for unmanned collaborative operations, but still has shortcomings in terms of safety, anti-collision, and loading efficiency.

[0004] At the same time, the efficiency of unmanned loading of mining electric shovels is also insufficient: traditional loading relies on manual experience, and the landing point is highly random, resulting in many loading times and low efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide a safe loading method for a mining electric shovel based on unmanned operation. By comprehensively considering the relative position relationship between the mining electric shovel and the mining dump truck during the loading process, the occurrence of collision accidents is effectively avoided, thereby improving the safety of the operation.

[0006] In order to achieve the above technical objectives, the present invention will adopt the following technical solutions:

[0007] A safe loading method for a mining electric shovel based on unmanned operation comprises the following steps:

[0008] Establish a three-dimensional rectangular coordinate system O-XYZ; the origin O of the three-dimensional rectangular coordinate system O-XYZ is the mapping of the rotation center of the mining electric shovel on the ground, the z-axis is the elevation direction of the mining electric shovel, the y-axis is the forward direction when the crane arm is parallel to the left and right crawler shoes and the bucket is located in the middle, and the x-axis is the right direction perpendicular to the y-axis;

[0009] Get the center point p of the bottom line of the mining shovel bucketS coordinates;

[0010] Get the minimum value p of the projection distance of the center point coordinates of the dump truck and its four corner points in the xOy coordinate plane of the three-dimensional rectangular coordinate system O-XYZ 0n ;

[0011] Get the maximum turning radius p0 and bucket height z of the mining electric shovel in the xOy coordinate plane S0 =h0+Δh, the maximum distance p that can be reached max , the closest distance p min ;

[0012] Constructing a safe collision avoidance strategy for mining electric shovels and mining dump trucks:

[0013] When p 0n When ≤p0+Δp, the mining shovel is prohibited from rotating;

[0014] When p0+Δp<p 0n ≤p max And z S > h0+Δh, the mining shovel is allowed to rotate, and min <p v ≤p max Unmanned mining shovel loading is allowed under the condition of

[0015] When p 0n >p max When the vehicle is parked, reselect the parking spot for the mining dump truck;

[0016] p v represents the coordinates of the center point of the mining dump truck bed, and Δp is the safe distance between the mining electric shovel body and the mining dump truck.

[0017] Preferably, it also includes constructing an unmanned mining electric shovel loading strategy: by planning the loading point coordinates under different shovel numbers, the material is evenly distributed in the bucket of the mining dump truck.

[0018] Preferably, when three shovels are needed to fill the bucket of a mining dump truck, the coordinates of the loading points of each shovel in the coordinate system x1O1y1 are:

[0019] The first shovel is loaded on the mining dump truck at point p1, which is the center of the truck bed. Its coordinates are

[0020] The loading point p2 of the second shovel on the mining dump truck is the vertical center axis of the truck bucket, close to the 1 / 4 of the truck length, and the coordinates are

[0021] The loading point p3 of the third shovel on the mining dump truck is the 1 / 4 of the vehicle length near the rear of the vehicle on the vertical axis of the bucket. The coordinates are

[0022] The coordinate system x1O1y1 is a plane coordinate system constructed with the corner point p04 of the mining dump truck as the origin.

[0023] Preferably, when four shovels are needed to fill the bucket of a mining dump truck, the coordinates of the loading points of each shovel in the coordinate system x1O1y1 are:

[0024] The loading point p1 of the first shovel on the mining dump truck is located at the vertical center axis of the truck bucket, close to the front of the truck, and its coordinates are

[0025] The loading point p2 of the second shovel on the mining dump truck is 1 / 3 of the vehicle width where the horizontal center axis of the truck bed is farther from the mining electric shovel. The coordinates are

[0026] The loading point p3 of the third shovel on the mining dump truck is the 1 / 3 vehicle width where the horizontal center axis of the truck bucket is closest to the mining electric shovel. The coordinates are

[0027] The loading point p4 of the fourth shovel on the mining dump truck is the 1 / 4 of the vehicle length near the rear of the vehicle on the vertical axis of the bucket, and its coordinates are

[0028] The coordinate system x1O1y1 is a plane coordinate system constructed with the corner point p04 of the mining dump truck as the origin.

[0029] Preferably, when five shovels are needed to fill the bucket of a mining dump truck, the coordinates of the loading points of each shovel in the coordinate system x1O1y1 are:

[0030] The first shovel is loaded on the mining dump truck at point p1, which is the center of the truck bed. Its coordinates are

[0031] The coordinates of the loading point p2 of the second shovel on the mining dump truck are

[0032] The loading point p3 of the third shovel on the mining dump truck is closer to the mining shovel than p2, and its coordinates are

[0033] The coordinates of the loading point p4 of the fourth shovel on the mining dump truck are

[0034] The loading point p5 of the fifth shovel on the mining dump truck is closer to the mining shovel than p4. The coordinates are

[0035] The coordinate system x1O1y1 is a plane coordinate system constructed with the corner point p04 of the mining dump truck as the origin.

[0036] Preferably, the center point p of the bottom line of the bucket of the mining electric shovel is S The coordinates are obtained in the following way:

[0037] Obtain the distance the mining shovel bucket arm is pushed out, the length of the hoist rope below the sheave, the inclination of the slewing platform, the angle between the bucket arm and the horizontal plane, and the angle between the slewing platform and the Y-axis;

[0038] Based on the obtained distance of the mining electric shovel arm, the length of the hoisting rope below the sheave, the inclination of the slewing platform, the angle between the arm and the horizontal plane, and the angle between the slewing platform and the y-axis, combined with the mechanical structure dimensions of the mining electric shovel, the center point p of the bucket bottom line can be calculated. S 's coordinates.

[0039] Preferably, the distance that the bucket arm of the mining electric shovel is pushed out, the length of the hoisting rope below the sheave, the inclination angle of the slewing platform, the angle between the bucket arm and the horizontal plane, and the angle between the slewing platform and the y-axis are obtained in the following manner:

[0040] For mining electric shovels, absolute encoders are installed on the push shaft and hoist drum shaft, dual-axis inclinometers are installed on the slewing platform, single-axis inclinometers are installed on the saddle, and absolute encoders are installed at the slewing center.

[0041] The distance that the mining shovel bucket arm is pushed out is calculated based on the data detected by the absolute encoder installed on the push shaft;

[0042] The length of the hoisting rope below the sheave is calculated based on the data detected by the absolute encoder installed on the hoisting drum shaft;

[0043] The inclination angle of the rotary platform is calculated based on the data detected by the dual-axis inclinometer installed on the rotary platform;

[0044] The angle between the boom and the horizontal plane is calculated based on the data detected by the single-axis inclinometer installed on the saddle;

[0045] The angle between the rotary platform and the Y-axis is calculated based on the data detected by the absolute encoder installed at the center of rotation.

[0046] Preferably, the minimum value p of the projection distance of the center point coordinates of the dump truck and the four corner point coordinates in the xOy coordinate plane of the three-dimensional rectangular coordinate system O-XYZ is 0n , specifically obtained through the following steps:

[0047] Based on the RTK principle, a set of RTK rover stations are deployed on the rotary platform of the mining shovel and the top of the mining dump truck. An RTK reference station is also deployed in a nearby open and wide area to obtain two sets of RTK coordinates and the yaw angles of the mining shovel and mining dump truck relative to the location of the RTK reference station.

[0048] Combined with the angle θ between the rotary platform of the mining electric shovel and the y-axis s , the angle θ of the mining dump truck relative to the y-axis is obtained by conversion v ;

[0049] According to the mechanical structure relationship between the installation position of the mining electric shovel mobile station and the coordinate origin, the coordinates of the mining electric shovel mobile station relative to the origin O are calculated; then, through coordinate transformation, the coordinates of the mining dump truck mobile station relative to the origin O are obtained;

[0050] According to the mechanical structure relationship between the mobile station of the mining dump truck and the center point of the truck bed and the angle θ between the mining dump truck and the y-axis v , get the coordinates p of the center point of the mining dump truck bucket v (x v ,y v ,h0) and the coordinates of the four corner points of the mining dump truck p 01 (x 01 ,y 01 ,h0),p 02 (x 02 ,y 02 ,h0),p 03 (x 03 ,y 03 ,h0),p 04 (x 04 ,y 04 ,h0);

[0051] The following formula is used to calculate the projection distance of the center point coordinates of the dump truck bucket and the four corner points of the dump truck on the xOy coordinate plane:

[0052]

[0053] By comparing the projection distance p v 、p 01 、p 02 、p 03 、p 04 , we can get the minimum value p of the projection distance between the center point and each corner point of the mining dump truck on the xOy coordinate plane 0n .

[0054] Preferably, the safety distance between the mining electric shovel body and the mining dump truck is 0.5m.

[0055] Preferably, the safe height of the mining electric shovel bucket above the mining dump truck during loading is 0.3m.

[0056] Based on the above technical objectives, the present invention has the following advantages over the prior art:

[0057] 1. Improved safety performance

[0058] Compared with some existing technologies that only focus on single-machine collision prevention or have deficiencies in safety collision prevention, the present invention can more comprehensively consider the relative position relationship between the mining electric shovel and the mining dump truck during the loading process through precise coordinate calculation and reasonable safety collision prevention strategy, effectively avoid the occurrence of collision accidents, and improve the safety of operations.

[0059] 2. Improved loading efficiency (unmanned operation mode)

[0060] In the loading operation of unmanned mining electric shovels, by rationally planning the landing point coordinates of each shovel on the mining dump truck, compared with traditional random or empirical loading methods, materials can be loaded into the mining dump truck more accurately. Usually, only 3 to 5 shovels are needed to fill the truck, which improves loading efficiency.

[0061] 3. Wide applicability

[0062] The technical means such as the sensor and positioning system adopted in the present invention have certain versatility and can be applied to mining electric shovels and mining dump trucks of different models and specifications, and have good market application prospects.

[0063] 4. High technical integration

[0064] By integrating sensor technology, positioning technology, control strategy and other technologies, a complete safe and efficient loading system and method for mining electric shovels is formed. Compared with the single-function technical solutions in the existing technology, it has higher technical integration and innovation. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 This is a schematic diagram of the loading structure of a mining electric shovel and a mining dump truck;

[0066] In the figure: 1 is the rotation center of the mining electric shovel, which can be driven by the slewing mechanism to rotate 360° around the rotation center; 2 is the bucket arm of the mining electric shovel, which can be driven by the pushing mechanism to move in a straight line forward and backward; 3 is the hoist rope of the mining electric shovel, which can be driven by the hoisting mechanism to move in a straight line up and down; 4 is the double crawler of the mining electric shovel, which can be driven by the left and right walking mechanisms respectively to move in a straight line at the same speed and in a differential steering motion; 5 is the bottom line center of the bucket; 6 is the center of the truck bed of the mining dump truck.

[0067] Figure 2 It is a schematic diagram of the three-dimensional model (one direction) of the mining shovel and the mining dump truck loading;

[0068] Figure 3 It is a 3-shovel loading strategy for unmanned mining shovels;

[0069] Figure 4 It is a 4-shovel loading strategy for unmanned mining shovels;

[0070] Figure 5 It is a 5-shovel loading strategy for unmanned mining electric shovels. DETAILED DESCRIPTION

[0071] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way serves as any limitation on the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of the present invention. Unless otherwise specified, the relative arrangement of components and steps, expressions and numerical values ​​described in these embodiments do not limit the scope of the present invention. Technologies, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods and equipment should be considered part of the specification. In all examples shown and discussed here, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values.

[0072] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0073] The method for safe loading of a mining electric shovel based on unmanned operation of the present invention comprises the following steps:

[0074] Step 1: Establish a three-dimensional rectangular coordinate system O-XYZ:

[0075] like Figure 1As shown, the electric mining shovel includes dual tracks 4, a bucket arm 2, a hoist rope 3, and a bucket. One end of the hoist rope is connected to the bucket, and the other end is connected to the power output of the hoisting mechanism. Driven by the hoisting mechanism, the hoist rope pulls the bucket in vertical linear motion. One end of the bucket arm is connected to the bucket, and the other end is connected to the pushing mechanism. Driven by the pushing mechanism, the bucket moves forward and backward linearly. The dual tracks 4 are driven by the left and right walking mechanisms for linear motion at the same speed and for differential steering. The slewing mechanism drives the shovel's rotational center, allowing it to rotate 360° around the center.

[0076] like Figure 2-4 As shown in the figure, the length, width, and height of a mining dump truck bucket are l0, w0, and h0, respectively. A three-dimensional rectangular coordinate system O-XYZ is established, with the ground projection of the mining shovel's rotation center as the origin O. The z-axis is the elevation direction of the mining shovel, and the ground is approximately considered a plane. The y-axis is the direction in which the boom is parallel to the left and right track shoes and the bucket is located in the middle and directly in front. The x-axis is perpendicular to the y-axis and points to the right. Lengths are in meters, and angles are in degrees.

[0077] Step 2: Get the center point p of the mining shovel bucket bottom line S Coordinates:

[0078] To obtain the center point p of the bucket bottom line S The coordinates (x S ,y S ,z S), the present invention installs some sensors on the mining electric shovel, specifically: absolute encoders are installed on the pushing shaft and the lifting drum shaft respectively, a dual-axis inclinometer is installed on the slewing platform (a dual-axis ±40° inclinometer can be selected), a single-axis inclinometer is installed on the saddle (a single-axis 360° inclinometer can be selected), and an absolute encoder is installed at the slewing center. Therefore, the distance the mining electric shovel bucket arm is pushed out can be calculated based on the data detected by the absolute encoder installed on the pushing shaft, the length of the lifting rope below the sheave can be calculated based on the data detected by the absolute encoder installed on the lifting drum shaft, the inclination of the slewing platform can be calculated based on the data detected by the dual-axis inclinometer installed on the slewing platform, the angle between the bucket arm and the horizontal plane can be calculated based on the data detected by the single-axis inclinometer installed on the saddle, and the angle between the slewing platform and the y-axis can be calculated based on the data detected by the absolute encoder installed on the slewing center. It should be noted here that other types of angle sensors can be considered to replace dual-axis inclinometers and single-axis inclinometers, such as fiber optic gyroscopes, as long as the corresponding angle information can be accurately measured. For absolute encoders that measure distance, other distance measuring devices such as laser distance sensors can also be explored as substitutes. Through reasonable installation and calibration, data such as the arm push-out distance and the height of the hoist rope can be obtained. According to the obtained distance of the mining electric shovel arm push-out, the length of the hoist rope under the sheave, the inclination of the slewing platform, the angle between the arm and the horizontal plane, and the angle between the slewing platform and the y-axis, combined with the mechanical structure dimensions of the mining electric shovel, the center point p of the bottom line of the bucket can be calculated. S The coordinates (x S ,y S ,z S ).

[0079] Step 3: Obtain the minimum value p of the projection distance of the center point coordinates of the dump truck and its four corner points in the xOy coordinate plane of the three-dimensional rectangular coordinate system O-XYZ 0n :

[0080] In order to obtain the minimum value p of the projection distance of the center point coordinates of the dump truck and its four corner points in the xOy coordinate plane of the three-dimensional rectangular coordinate system O-XYZ 0n The present invention uses the RTK principle to arrange a set of mobile stations on the rotary platform of the mining shovel and the top of the mining dump truck, and arrange a set of reference stations in an open and wide place nearby. The coordinates of the mining shovel and the mining dump truck mobile stations relative to the reference stations can be obtained, as well as the yaw angles of the mining shovel and the mining dump truck relative to the same geographical position. Combined with the angle θ between the mining shovel rotary platform and the y-axis, the coordinates of the mining shovel and the mining dump truck mobile stations relative to the reference stations can be obtained. s , the angle θ of the mining dump truck relative to the y-axis can be obtained by conversion vAccording to the mechanical structure relationship between the installation position and the coordinate origin, the coordinates of the mining shovel mobile station relative to the origin O are calculated; then, through coordinate transformation, the coordinates of the mining dump truck mobile station relative to the origin O are obtained; then, according to the mechanical structure relationship between the mining dump truck mobile station and the center point of the truck bed and the body angle θ v , get the coordinates p of the center point of the mining dump truck bucket v (x v ,y v ,h0) and the coordinates of the four corner points of the mining dump truck p 01 (x 01 ,y 01 ,h0),p 02 (x 02 ,y 02 ,h0),p 03 (x 03 ,y 03 ,h0),p 04 (x 04 ,y 04 ,h0), projection distance on the xOy coordinate plane By comparing p v 、p 01 、p 02 、p 03 、p 04 , and obtain the minimum value p of the projection distance between the center point and each corner point of the mining dump truck on the xOy coordinate plane 0n Of course, in addition to using RTK positioning systems, the present invention can also consider using other high-precision positioning systems, such as those based on ultra-wideband (UWB) technology. UWB base stations and tags are rationally arranged on the mining shovel and mining dump truck, as well as in the surrounding environment. The position and relative relationship information of the vehicle and the shovel are acquired through the transmission and processing of UWB signals.

[0081] Step 4: Obtain the maximum turning radius p0 of the mining shovel in the xOy coordinate plane and the bucket height z S0 =h0+Δh, the maximum distance p that can be reached max , the closest distance p min :

[0082] like Figure 2 , in the xOy coordinate plane, the maximum turning radius of the mining electric shovel body is In order to ensure the safety of the electric shovel loading operation, the bucket height needs to be higher than the mine car by Δh before rotary loading is allowed. S =h0+Δh, the maximum distance that can be reached is The closest distance is Where: (x max ,y max) represents the farthest position coordinate that the bucket can reach, (x min ,y min ) represents the closest position coordinates that the bucket can reach.

[0083] Step 5: Build a safe collision avoidance strategy for mining shovels and mining dump trucks:

[0084] During the loading process, the mining shovel performs safety anti-collision control based on the relative distance to the nearest point of the mining dump truck's parking position. The specific strategy is as follows:

[0085] ①When p 0n When ≤p0+Δp, the slewing mechanism of the mining electric shovel is prohibited from moving, and the given torque and speed of the slewing mechanism motor are both 0. Where, Δp is the safe distance between the mining electric shovel body and the mining dump truck, and its value is 0.5m.

[0086] ②When p0+Δp<p 0n ≤p max When the mining shovel body does not collide with the mining dump truck, the anti-collision between the mining shovel bucket and the mining dump truck is considered. Therefore, only when z S > h0+Δh, the mining shovel is allowed to rotate, where Δh is the safe height of the mining shovel bucket above the mining dump truck during loading, which is 0.3m. min <p v ≤p max When the stop point of the mining dump truck meets the distance requirement for mining electric shovel loading, the mining electric shovel is loaded according to the unmanned loading strategy described later.

[0087] When p max <p 0n When the mining dump truck is out of the loading distance range of the mining electric shovel, the mining dump truck needs to reselect a parking point.

[0088] Step 6: Build an unmanned mining shovel loading strategy:

[0089] like Figure 3 、 Figure 4 、 Figure 5 For the loading operation of mining electric shovel and matching mining dump truck, it usually takes 3 to 5 shovels to fill the bucket. All loading strategies must meet the requirements of the bucket height z S >h0+Δh. A coordinate system x1O1y1 is established with the mining dump truck p04 as the origin. The following points are all expressed in this coordinate system.

[0090] ① Figure 3 3-shovel loading strategy for unmanned mining shovels:

[0091] The first shovel is loaded on the mining dump truck at point p1, which is the center of the truck bed. Its coordinates are

[0092] The loading point p2 of the second shovel on the mining dump truck is the vertical center axis of the truck bucket, close to the 1 / 4 of the truck length, and the coordinates are

[0093] The loading point p3 of the third shovel on the mining dump truck is the 1 / 4 of the vehicle length near the rear of the vehicle on the vertical axis of the bucket. The coordinates are

[0094] ② Figure 4 Loading strategy for unmanned mining shovels with 4 shovels:

[0095] The loading point p1 of the first shovel on the mining dump truck is located at the vertical center axis of the truck bucket, close to the front of the truck, and its coordinates are

[0096] The loading point p2 of the second shovel on the mining dump truck is 1 / 3 of the vehicle width where the horizontal center axis of the truck bed is farther from the mining electric shovel. The coordinates are

[0097] The loading point p3 of the third shovel on the mining dump truck is the 1 / 3 vehicle width where the horizontal center axis of the truck bucket is closest to the mining electric shovel. The coordinates are

[0098] The loading point p4 of the fourth shovel on the mining dump truck is the 1 / 4 of the vehicle length near the rear of the vehicle on the vertical axis of the bucket, and its coordinates are

[0099] ③ Figure 5 This is a five-shovel loading strategy for an unmanned mining electric shovel. The fourth and fifth shovels are appropriately moved forward to prevent excessive material from spilling during movement at the rear of the vehicle.

[0100] The first shovel is loaded on the mining dump truck at point p1, which is the center of the truck bed. Its coordinates are

[0101] The coordinates of the loading point p2 of the second shovel on the mining dump truck are

[0102] The loading point p3 of the third shovel on the mining dump truck is closer to the mining shovel than p2, and its coordinates are

[0103] The coordinates of the loading point p4 of the fourth shovel on the mining dump truck are

[0104] The loading point p5 of the fifth shovel on the mining dump truck is closer to the mining shovel than p4. The coordinates are

Claims

1. A safe loading method for mining electric shovel based on unmanned operation, characterized in that: The steps include: Establish a three-dimensional rectangular coordinate system O-XYZ; the origin O of the three-dimensional rectangular coordinate system O-XYZ is the mapping of the rotation center of the mining electric shovel on the ground, the z-axis is the elevation direction of the mining electric shovel, the y-axis is the forward direction when the crane arm is parallel to the left and right crawler shoes and the bucket is located in the middle, and the x-axis is the right direction perpendicular to the y-axis; Get the center point p of the bottom line of the mining shovel bucket S coordinates; Get the minimum value p of the projection distance of the center point coordinates of the dump truck and its four corner points in the xOy coordinate plane of the three-dimensional rectangular coordinate system O-XYZ 0n ; Get the maximum turning radius p0 and bucket height z of the mining electric shovel in the xOy coordinate plane S0 =h0+Δh, the maximum distance p that can be reached max , the closest distance p min ; Constructing a safe collision avoidance strategy for mining electric shovels and mining dump trucks: When p 0n When ≤p0+Δp, the mining shovel is prohibited from rotating; When p0+Δp<p 0n ≤p max And z S > h0+Δh, the mining shovel is allowed to rotate, and min <p v ≤p max Unmanned mining shovel loading is allowed under the condition of When p 0n >p max When the vehicle is parked, reselect the parking spot for the mining dump truck; p v represents the coordinates of the center point of the mining dump truck bed, and Δp is the safe distance between the mining electric shovel body and the mining dump truck.

2. The method for safe loading of mining shovel based on unmanned operation according to claim 1, characterized in that: It also includes building a loading strategy for unmanned mining electric shovels: by planning the loading point coordinates for different shovel numbers, the material is evenly distributed in the truck bed of the mining dump truck.

3. The method for safe loading of mining shovel based on unmanned operation according to claim 2, characterized in that: When three shovels are needed to fill the bucket of a mining dump truck, the coordinates of the loading points of each shovel in the coordinate system x1O1y1 are: The first shovel is loaded on the mining dump truck at point p1, which is the center of the truck bed. Its coordinates are The loading point p2 of the second shovel on the mining dump truck is the vertical center axis of the truck bucket, close to the 1 / 4 of the truck length, and the coordinates are The loading point p3 of the third shovel on the mining dump truck is the 1 / 4 of the vehicle length near the rear of the vehicle on the vertical axis of the bucket. The coordinates are The coordinate system x1O1y1 is a plane coordinate system constructed with the corner point p04 of the mining dump truck as the origin.

4. The method for safe loading of mining shovel based on unmanned operation according to claim 2, characterized in that: When four shovels are needed to fill the bucket of a mining dump truck, the coordinates of the loading points of each shovel in the coordinate system x1O1y1 are: The loading point p1 of the first shovel on the mining dump truck is located at the vertical center axis of the truck bucket, close to the front of the truck, and its coordinates are The loading point p2 of the second shovel on the mining dump truck is 1 / 3 of the vehicle width where the horizontal center axis of the truck bed is farther from the mining electric shovel. The coordinates are The loading point p3 of the third shovel on the mining dump truck is the 1 / 3 vehicle width where the horizontal center axis of the truck bucket is closest to the mining electric shovel. The coordinates are The loading point p4 of the fourth shovel on the mining dump truck is the 1 / 4 of the vehicle length near the rear of the vehicle on the vertical axis of the bucket, and its coordinates are The coordinate system x1O1y1 is a plane coordinate system constructed with the corner point p04 of the mining dump truck as the origin.

5. The method for safe loading of mining shovel based on unmanned operation according to claim 2, characterized in that: When five shovels are needed to fill the bucket of a mining dump truck, the coordinates of the loading points of each shovel in the coordinate system x1O1y1 are: The first shovel is loaded on the mining dump truck at point p1, which is the center of the truck bed. Its coordinates are The coordinates of the loading point p2 of the second shovel on the mining dump truck are The loading point p3 of the third shovel on the mining dump truck is closer to the mining shovel than p2, and its coordinates are The coordinates of the loading point p4 of the fourth shovel on the mining dump truck are The loading point p5 of the fifth shovel on the mining dump truck is closer to the mining shovel than p4. The coordinates are The coordinate system x1O1y1 is a plane coordinate system constructed with the corner point p04 of the mining dump truck as the origin.

6. The method for safe loading of mining shovel based on unmanned operation according to claim 1, characterized in that: The center point p of the bottom line of the bucket of the mining electric shovel S The coordinates are obtained in the following way: Obtain the distance the mining shovel bucket arm is pushed out, the length of the hoist rope below the sheave, the inclination of the slewing platform, the angle between the bucket arm and the horizontal plane, and the angle between the slewing platform and the Y-axis; Based on the obtained distance of the mining electric shovel arm, the length of the hoisting rope below the sheave, the inclination of the slewing platform, the angle between the arm and the horizontal plane, and the angle between the slewing platform and the y-axis, combined with the mechanical structure dimensions of the mining electric shovel, the center point p of the bucket bottom line can be calculated. S 's coordinates.

7. The method for safe loading of mining shovel based on unmanned operation according to claim 6, characterized in that: The distance that the bucket arm of the mining electric shovel is pushed out, the length of the hoist rope below the sheave, the inclination of the slewing platform, the angle between the bucket arm and the horizontal plane, and the angle between the slewing platform and the Y-axis are obtained in the following way: For mining electric shovels, absolute encoders are installed on the push shaft and hoist drum shaft, dual-axis inclinometers are installed on the slewing platform, single-axis inclinometers are installed on the saddle, and absolute encoders are installed at the slewing center. The distance that the mining shovel bucket arm is pushed out is calculated based on the data detected by the absolute encoder installed on the push shaft; The length of the hoisting rope below the sheave is calculated based on the data detected by the absolute encoder installed on the hoisting drum shaft; The inclination angle of the rotary platform is calculated based on the data detected by the dual-axis inclinometer installed on the rotary platform; The angle between the boom and the horizontal plane is calculated based on the data detected by the single-axis inclinometer installed on the saddle; The angle between the rotary platform and the Y-axis is calculated based on the data detected by the absolute encoder installed at the center of rotation.

8. The method for safe loading of mining shovel based on unmanned operation according to claim 1, characterized in that: The minimum value p of the projection distance between the center point coordinates of the dump truck and its four corner points in the xOy coordinate plane of the three-dimensional rectangular coordinate system O-XYZ 0n , specifically obtained through the following steps: Based on the RTK principle, a set of RTK rover stations are deployed on the rotary platform of the mining shovel and the top of the mining dump truck. An RTK reference station is also deployed in a nearby open and wide area to obtain two sets of RTK coordinates and the yaw angles of the mining shovel and mining dump truck relative to the location of the RTK reference station. Combined with the angle θ between the rotary platform of the mining electric shovel and the y-axis s , the angle θ of the mining dump truck relative to the y-axis is obtained by conversion v According to the mechanical structure relationship between the installation position of the mining electric shovel mobile station and the coordinate origin, the coordinates of the mining electric shovel mobile station relative to the origin O are calculated; then, through coordinate transformation, the coordinates of the mining dump truck mobile station relative to the origin O are obtained; According to the mechanical structure relationship between the mobile station of the mining dump truck and the center point of the truck bed and the angle θ between the mining dump truck and the y-axis v , get the coordinates p of the center point of the mining dump truck bucket v (x v ,y v ,h0) and the coordinates of the four corner points of the mining dump truck p 01 (x 01 ,y 01 ,h0),p 02 (x 02 ,y 02 ,h0),p 03 (x 03 ,y 03 ,h0),p 04 (x 04 ,y 04 ,h0); The following formula is used to calculate the projection distance of the center point coordinates of the dump truck bucket and the four corner points of the dump truck on the xOy coordinate plane: By comparing the projection distance p v 、p 01 、p 02 、p 03 、p 04 , we can get the minimum value p of the projection distance between the center point and each corner point of the mining dump truck on the xOy coordinate plane 0n .

9. The method for safe loading of mining shovel based on unmanned operation according to claim 1, characterized in that: The safe distance between the mining electric shovel body and the mining dump truck is 0.5m.

10. The method for safe loading of mining shovel based on unmanned operation according to claim 1, characterized in that: The safe height of the mining electric shovel bucket above the mining dump truck during loading is 0.3m.

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