Shuttle car autonomous following method and system based on single base station positioning and related device

Abstract

The invention discloses a shuttle car autonomous following method and system based on single base station positioning and a related device, and relates to the field of coal mine shuttle car automatic driving. When the process type is a single-lane tunneling process, executing a single-lane tunneling process strategy; when the process type is a double-roadway tunneling process, determining the current position information of the followed target equipment; acquiring current position information of the shuttle car, judging whether the shuttle car and the followed target equipment are in the same roadway or not, and if so, determining a first shuttle car advancing distance instruction based on the current position information of the followed target equipment and the current position information of the shuttle car; according to the method, different positioning strategies are adopted for the single-lane scene and the double-lane scene respectively, so that the shuttle car can dynamically adjust the motion state according to the real-time positioning data, and the complexity of a control system is reduced while the following precision is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic driving of coal mine shuttle cars, and in particular to a shuttle car autonomous following method and system based on single base station positioning and related devices. BACKGROUND

[0002] Coal is an important energy resource, and its mining process has an important impact on the production efficiency and economic benefits of the coal industry. In the modern coal mining process, shuttle cars, as key transportation equipment, play an important role in coal loading and unloading in the double-lane tunneling process. At present, most coal mines still use manual driving or remote control operation to control shuttle car operation, which not only has high labor intensity and low operation efficiency, but also has poor positioning accuracy and many safety hazards. With the deepening of the intelligent construction of coal mines, realizing the autonomous following and intelligent operation of shuttle cars has become an important research direction to improve the mining efficiency and operation safety.

[0003] In existing vehicle positioning and autonomous navigation technologies, ultra-wideband (UWB) technology is widely used in indoor and underground positioning systems due to its high precision, strong anti-interference ability, and good penetration. The mainstream UWB positioning system currently uses a multi-base station architecture, which realizes the triangulation positioning of the target by deploying multiple fixed base stations. However, in the special operating environment of coal mine tunnels, the multi-base station system has obvious defects such as high deployment cost, complex maintenance, and great limitation by the tunnel structure. In particular, in the tunnel environment where multipath effect is obvious, the positioning accuracy is easily affected. In addition, the existing single-base station positioning scheme can only provide relative distance information, making it difficult to achieve accurate position perception and path planning in complex multi-lane environments. SUMMARY

[0004] The purpose of the present application is to provide a shuttle car autonomous following method and system based on single base station positioning and related devices, which can realize low-cost and high-reliability shuttle car autonomous following, and improve the automation level and safety of coal mining operations.

[0005] To achieve the above purpose, the present application provides the following solutions: In a first aspect, the present application provides a shuttle car autonomous following control method based on single base station positioning, comprising: determining the type of tunneling process.

[0006] When the type of tunneling process is a single-lane tunneling process, a single-lane tunneling process strategy is executed.

[0007] When the type of tunneling process is a double-lane tunneling process, a first response signal is obtained, and the current position information of the followed target device is determined according to the first response signal and a PDOA algorithm.

[0008] Obtain current position information of the shuttle vehicle, and determine whether the shuttle vehicle and the followed target device are in the same roadway according to the current position information of the shuttle vehicle and the current position information of the followed target device, to obtain a first determination result.

[0009] If the first determination result indicates yes, determine a first shuttle vehicle travel distance instruction based on the current position information of the followed target device and the current position information of the shuttle vehicle.

[0010] If the first determination result indicates no, execute a double roadway tunneling process strategy.

[0011] The single roadway tunneling process strategy comprises: Obtain a first response signal, and determine current position information of the followed target device according to the first response signal and a PDOA algorithm; the first response signal is a response signal formed after a device identification card responds to a UWB signal emitted by a single base station positioning module; the device identification card is used to be installed on the followed target device, and the single base station positioning module is used to be installed on the shuttle vehicle.

[0012] Obtain current position information of the shuttle vehicle, and determine a first shuttle vehicle travel distance instruction based on the current position information of the followed target device and the current position information of the shuttle vehicle; the first shuttle vehicle travel distance instruction is used to control the shuttle vehicle to follow the followed target device.

[0013] The double roadway tunneling process strategy comprises: Obtain a second response signal, and determine position information of a fixed identification card based on the second response signal and the PDOA algorithm; the fixed identification card is used to be installed at a central position of a side of a connecting roadway; the connecting roadway is an auxiliary passage connecting a first roadway and a second roadway.

[0014] Determine a second shuttle vehicle travel distance instruction based on the position information of the fixed identification card, the current position information of the followed target device and the current position information of the shuttle vehicle; the current position information of the shuttle vehicle is used to indicate that the shuttle vehicle is in the first roadway; the current position information of the followed target device is used to indicate that the followed target device is in the second roadway; and the second shuttle vehicle travel distance instruction is used to control the shuttle vehicle to travel to the connecting roadway and turn into the second roadway after passing through the connecting roadway.

[0015] Optionally, the first shuttle vehicle travel distance instruction comprises a first shuttle vehicle travel acceleration instruction, a first shuttle vehicle travel constant speed instruction and a first shuttle vehicle travel deceleration instruction; determining the first shuttle vehicle travel distance instruction based on the current position information of the followed target device and the current position information of the shuttle vehicle specifically comprises: Based on the current position information of the target device being followed and the current position information of the shuttle car, the travel distance of the first shuttle car is determined.

[0016] The distance traveled by the first shuttle car is divided into three equal parts to obtain the first acceleration stage, the first constant speed stage, and the first deceleration stage.

[0017] Based on the first acceleration phase, a first shuttle car acceleration command is obtained.

[0018] Based on the first uniform speed stage, the first shuttle car is given a uniform speed instruction.

[0019] Based on the first deceleration phase, a deceleration command for the first shuttle car is obtained.

[0020] Optionally, the current position information of the shuttle car is ( x 0, y 0), the current location information of the target device being followed is ( x 1, y 1) Based on the current position information of the shuttle car and the current position information of the target device being followed, determine whether the shuttle car and the target device being followed are in the same roadway, and obtain a first determination result, specifically including: According to the current position information of the shuttle car ( x 0, y 0) and the current location information of the target device being followed ( x 1, y 1) Calculate the position deviation value of the x-direction coordinate, where the x-direction is the direction perpendicular to the direction of the shuttle car's travel along the roadway.

[0021] Based on the x-direction coordinate position deviation value, it is determined whether the shuttle car and the followed target device are in the same roadway, and a first judgment result is obtained.

[0022] Wherein, when the x-direction coordinate position deviation value is less than or equal to a preset value, the first judgment result indicates that the shuttle car and the followed target device are in the same lane.

[0023] When the x-direction coordinate position deviation value is greater than a preset value, the first judgment result indicates that the shuttle car and the target device being followed are not in the same lane.

[0024] Optionally, the second shuttle car travel distance command includes a second shuttle car travel acceleration command, a second shuttle car travel deceleration command, a third shuttle car travel acceleration command, and a third shuttle car travel deceleration command. Based on the position information of the fixed identification card, the current position information of the followed target device, and the current position information of the shuttle car, the second shuttle car travel distance command is determined, specifically including: Obtaining a width of the junction, and determining a second shuttle distance according to the width of the junction, current position information of the shuttle and position information of the fixed identification card.

[0025] Bisection of the second shuttle distance to obtain a second acceleration stage and a second deceleration stage.

[0026] Obtaining a second shuttle acceleration instruction according to the second acceleration stage.

[0027] Obtaining a second shuttle deceleration instruction according to the second deceleration stage; the second shuttle acceleration instruction and the second shuttle deceleration instruction are used to control the shuttle to travel to the junction.

[0028] Updating the current position information of the shuttle, and determining a third shuttle distance according to the updated current position information of the shuttle and current position information of the followed target device when the updated current position information of the shuttle indicates that the shuttle has traveled to the junction.

[0029] Bisection of the third shuttle distance to obtain a third acceleration stage and a third deceleration stage.

[0030] Obtaining a third shuttle acceleration instruction according to the third acceleration stage.

[0031] Obtaining a third shuttle deceleration instruction according to the third deceleration stage; the third shuttle acceleration instruction and the third shuttle deceleration instruction are used to control the shuttle to turn into the second lane to follow the followed target device after passing through the junction.

[0032] In a second aspect, the application provides a shuttle autonomous following system based on single base station positioning, comprising: A single base station positioning module, which is installed on the shuttle and is used to emit UWB signals.

[0033] A device identification card, which is installed on the followed target device and is used to form a first response signal in response to the UWB signals emitted by the single base station positioning module.

[0034] A fixed identification card, which is installed at a preset position in the lane and is used to form a second response signal in response to the UWB signals emitted by the single base station positioning module.

[0035] An information processing module, which is installed on the shuttle and is used to execute any one of the above-mentioned shuttle autonomous following control methods based on single base station positioning.

[0036] Optionally, the single base station positioning module is internally integrated with multiple groups of ranging antennas, the multiple groups of ranging antennas including at least one group of main antennas and at least two groups of auxiliary antennas, the distance between the auxiliary antennas and the main antennas being no more than half of the wavelength of a UWB signal.

[0037] In a third aspect, the present application provides a computer device, comprising: a memory, a processor to store a computer program on the memory and executable on the processor, and the processor executes the computer program to implement the steps of the single base station positioning based shuttle car autonomous following control method according to any one of the above.

[0038] In a fourth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the single base station positioning based shuttle car autonomous following control method according to any one of the above.

[0039] According to the specific embodiments provided by the present application, the present application has the following technical effects: The present application provides a single base station positioning based shuttle car autonomous following method, system and related device, through a tunnel excavation process type dynamic switching control strategy, in a single lane excavation scene, a standard single lane following strategy is executed to realize efficient and accurate straight line following. In a double lane excavation scene, a fixed identification card deployed at a connecting lane is introduced as a key landmark, so that the shuttle car can be accurately positioned and pass through the connecting lane. When the shuttle car judges that itself and the followed target are in different lanes, it first navigates to the connecting lane, and then turns into the target lane through the connecting lane, and finally resumes following, solving the problem that equipment cannot be cooperatively followed in double lane or multiple lane parallel operation. At the same time, through the single base station UWB positioning technology, the traditional multi-base station positioning system is replaced, greatly reducing the number of required hardware devices (base stations) and deployment complexity, not only reducing the overall cost of the system, but also avoiding the problems of signal synchronization and clock drift commonly seen in multi-base station systems, so as to realize low-cost and high-reliability shuttle car autonomous following, which is more suitable for complex environment and difficult deployment in underground tunnels, and improves the automation level and safety of coal mining operations. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0041] Figure 1 For the application environment of the single base station positioning based shuttle car autonomous following control method in an embodiment of the present application; Figure 2 A flowchart of a shuttle autonomous following control method based on single base station positioning provided by an embodiment of the present application is shown in FIG. 1. Figure 3 A flowchart of obtaining a first judgment result in a shuttle autonomous following control method based on single base station positioning provided by another embodiment of the present application is shown in FIG. 2. Figure 4 A flowchart of determining a first shuttle travel distance instruction in a shuttle autonomous following control method based on single base station positioning provided by another embodiment of the present application is shown in FIG. 3. Figure 5 A schematic diagram of a shuttle following a target device to be followed when the shuttle and the target device to be followed are in the same tunnel provided by another embodiment of the present application is shown in FIG. 4. Figure 6 A flowchart of determining a second shuttle travel distance instruction in a shuttle autonomous following control method based on single base station positioning provided by another embodiment of the present application is shown in FIG. 5. Figure 7 A schematic diagram of a shuttle following a target device to be followed when the shuttle and the target device to be followed are in different tunnels provided by another embodiment of the present application is shown in FIG. 6. Figure 8 A functional module schematic diagram of a shuttle autonomous following system based on single base station positioning provided by another embodiment of the present application is shown in FIG. 7. Figure 9 A structural schematic diagram of a computer device provided by an embodiment of the present application is shown in FIG. 8.

[0042] Reference signs: 102 terminal, 104 storage server. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0044] The above purposes, features and advantages of the present application will be more apparent and understandable. The present application will be described in further detail below with reference to the drawings and specific embodiments.

[0045] The shuttle autonomous following control method based on single base station positioning provided by the embodiments of the present application can be applied to, for example, Figure 1The application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data required by the server 104 to process. The data storage system can be set up separately, or integrated on the server 104, or placed on the cloud or other servers. The terminal 102 sends the determined tunneling process type to the server 104, and the server 104 receives the determined tunneling process type: when the determined tunneling process type is a single-lane tunneling process, the server 104 obtains a first response signal, and determines the current position information of the followed target device according to the first response signal and the PDOA algorithm; At the same time, the server 104 obtains the current position information of the shuttle car, and determines the first shuttle car travel distance instruction based on the current position information of the followed target device and the current position information of the shuttle car. The server 104 can feed back the obtained first shuttle car travel distance instruction to the terminal 102. When the determined tunneling process type is a single-lane tunneling process, the terminal 102 can send the first response signal to be processed to the server 104, and the server 104 receives the first response signal to be processed. For the first response signal to be processed, the server 104 determines the current position information of the followed target device according to the first response signal and the PDOA algorithm; At the same time, the server 104 obtains the current position information of the shuttle car, and determines whether the shuttle car and the followed target device are in the same lane according to the current position information of the shuttle car and the current position information of the followed target device, to obtain a first determination result; If the first determination result indicates yes, the first shuttle car travel distance instruction is determined based on the current position information of the followed target device and the current position information of the shuttle car. The server 104 can feed back the obtained first shuttle car travel distance instruction to the terminal 102; If the first determination result indicates no, the server 104 obtains a second response signal, and determines the position information of the fixed identification card based on the second response signal and the PDOA algorithm; Based on the position information of the fixed identification card, the current position information of the followed target device and the current position information of the shuttle car, the second shuttle car travel distance instruction is determined, and the server 104 can feed back the obtained second shuttle car travel distance instruction to the terminal 102.

[0046] In addition, in some embodiments, a single-base station positioning-based shuttle car autonomous following control method can also be implemented by the server 104 or the terminal 102 alone, such as can be directly processed by the terminal 102 according to the determined tunneling process type, or the server 104 can obtain the determined tunneling process type from the data storage system and process according to the determined tunneling process type.

[0047] In one exemplary embodiment, as Figure 2As shown, a shuttle vehicle autonomous following control method based on single base station positioning is provided, which is executed by a computer device, specifically, can be executed by a terminal or a server alone or jointly, in the embodiments of the present application, the method is applied to Figure 1 The server 104 in the method is taken as an example for illustration, including the following steps 201 to 206. Wherein: Step 201, determining the type of roadway tunneling process.

[0048] Step 202, when the type of roadway tunneling process is single-lane tunneling process, executing single-lane tunneling process strategy, which includes: Step 2021, acquiring a first response signal, and determining the current position information of the followed target device according to the first response signal and PDOA algorithm; the first response signal is a response signal formed after a device identification card responds to the UWB signal emitted by a single base station positioning module; the device identification card is used to be installed on the followed target device, and the single base station positioning module is used to be installed on the shuttle vehicle.

[0049] Step 2022, acquiring the current position information of the shuttle vehicle, and determining the first shuttle vehicle travel distance instruction based on the current position information of the followed target device and the current position information of the shuttle vehicle; the first shuttle vehicle travel distance instruction is used to control the shuttle vehicle to follow the followed target device.

[0050] Step 203, when the type of roadway tunneling process is double-lane tunneling process, acquiring a first response signal, and determining the current position information of the followed target device according to the first response signal and PDOA algorithm.

[0051] As an example, when the single base station positioning module internally integrates a group of main antennas and two groups of auxiliary antennas (first auxiliary antenna and second auxiliary antenna), the first initial coordinate value of the device identification card is calculated according to the UWB signal phase difference between the main antenna and the first auxiliary antenna, the second initial coordinate value of the device identification card is calculated according to the UWB signal phase difference between the main antenna and the second auxiliary antenna, and the average value of the first initial coordinate value and the second initial coordinate value is taken as the current position information of the followed target device, Further, the first initial coordinate value calculation process is as follows: First, the angle between the device identification card and the single base station positioning module is calculated , the formula is as follows: ; In the formula: is the angle between the device identification card and the single base station positioning module; d is the antenna distance difference between the main antenna and the first auxiliary antenna in the single base station positioning module; The phase difference of the UWB signal between the main antenna and the first auxiliary antenna; The wavelength is UWB signal wavelength.

[0052] Then calculate the first initial coordinate value of the device identification card. The formula is as follows: ; ; in, D Distance between the device identification card and the single base station positioning module D ; ( x 0, y 0) is the current location information of the single base station positioning module fixed on the shuttle car, that is, the current location information of the shuttle car.

[0053] It should be understood that the calculation process for the second initial coordinate value is the same as that for the first initial coordinate value; only the calculation method differs. d This represents the antenna distance difference between the main antenna and the second auxiliary antenna in a single base station positioning module. The phase difference of the UWB signal between the main antenna and the second auxiliary antenna will not be elaborated here.

[0054] Step 204: Obtain the current position information of the shuttle car, and based on the current position information of the shuttle car and the current position information of the target device being followed, determine whether the shuttle car and the target device being followed are in the same lane, and obtain the first determination result.

[0055] Step 205: If the first judgment result indicates yes, then based on the current position information of the followed target device and the current position information of the shuttle car, determine the first shuttle car travel distance instruction.

[0056] Step 206: If the first judgment result indicates no, then the dual-lane tunneling process strategy is executed, the dual-lane tunneling process strategy includes: Step 2061: Obtain the second response signal, and determine the location information of the fixed identification card based on the second response signal and the PDOA algorithm; the fixed identification card is used to be installed at the center position on one side of the connecting lane; the connecting lane is an auxiliary channel connecting the first lane and the second lane.

[0057] Step 2062: Based on the position information of the fixed identification card, the current position information of the followed target device, and the current position information of the shuttle car, determine the second shuttle car travel distance instruction; the current position information of the shuttle car indicates that the shuttle car is in the first lane; the current position information of the followed target device indicates that the followed target device is in the second lane; the second shuttle car travel distance instruction is used to control the shuttle car to travel to the connecting lane and then turn into the second lane after passing through the connecting lane.

[0058] By implementing steps 201 to 206 above, this application provides a shuttle car autonomous following method based on single-base station positioning. Through a dynamic switching control strategy for roadway excavation process types, in a single-roadway excavation scenario, a standard single-roadway following strategy is executed to achieve efficient and accurate straight-line following. In a dual-roadway excavation scenario, fixed marker cards deployed at the connecting roadways are introduced as key landmarks, enabling the shuttle car to accurately locate and pass through the connecting roadways. When the shuttle car determines that it is in a different roadway from the target being followed, it first navigates to the connecting roadway, then turns into the target roadway through the connecting roadway, and finally resumes following, solving the problem of equipment not being able to coordinate and follow in parallel operations of dual or multiple roadways. Simultaneously, by using single-base station UWB positioning technology to replace the traditional multi-base station positioning system, the number of required hardware devices (base stations) and deployment complexity are greatly reduced. This not only lowers the overall system cost but also avoids common problems in multi-base station systems such as signal synchronization and clock drift, thus enabling low-cost, high-reliability shuttle car autonomous following. This method is more suitable for underground roadways with complex environments and difficult deployment, improving the automation level and safety of coal mining operations.

[0059] In another exemplary embodiment of this application, in order to accurately determine whether the shuttle car and the target device being followed are in the same roadway in the complex environment of coal mine roadways, the difference in x-axis coordinates between the shuttle car and the target device being followed can be extracted as a core judgment parameter. When the difference in x-axis coordinates does not exceed a preset value, it indicates that the shuttle car and the target device being followed are in the same longitudinal roadway; when the difference exceeds the preset value, it is determined that the shuttle car and the target device being followed are in different roadways. The current position information of the shuttle car is ( x 0, y 0), the current location information of the target device being followed is ( x 1, y 1) such as Figure 3 As shown, step 204 above is replaced by steps 2041 to 2042, wherein: Step 2041, based on the current position information of the shuttle car ( x 0, y 0) and the current location information of the target device being followed ( x 1, y 1) Calculate the position deviation value of the x-direction coordinate, where the x-direction is the direction perpendicular to the direction in which the shuttle car travels along the roadway.

[0060] Step 2042, judging whether the shuttle vehicle and the followed target device are in the same aisle according to the x-direction coordinate position deviation value, to obtain a first judgment result; wherein, when the x-direction coordinate position deviation value is less than or equal to a preset value, the first judgment result indicates that the shuttle vehicle and the followed target device are in the same aisle; when the x-direction coordinate position deviation value is greater than the preset value, the first judgment result indicates that the shuttle vehicle and the followed target device are not in the same aisle.

[0061] As an example, the aisle width of the aisle where the shuttle vehicle is currently located is obtained, and the aisle width of the aisle where the shuttle vehicle is currently located is taken as the preset value, and then the above steps 2041-2042 are specifically as follows: According to the current position information of the shuttle vehicle (x0, y0) and the current position information of the followed target device (x1, y1), the x-direction coordinate position deviation value x is calculated. x 0, y 0)and the current position information of the followed target device (x1, y1), the x-direction coordinate position deviation value x is calculated. x 1, y 1), the x-direction coordinate position deviation value x is calculated. X 1, ; In the formula, x0 is the horizontal coordinate value of the current position information of the shuttle vehicle; x 0, x 1 is the horizontal coordinate value of the current position information of the followed target device; X 1 is the x-direction coordinate position deviation value, indicating the absolute value of the difference between the horizontal coordinate value of the current position coordinate of the shuttle vehicle x0 and the horizontal coordinate value of the current position of the followed target device x1, which is used to judge whether the shuttle vehicle and the followed target device are in the same aisle at the current time. x x According to the x-direction coordinate position deviation value x, it is judged whether the shuttle vehicle and the followed target device are in the same aisle, to obtain a first judgment result; wherein, when the x-direction coordinate position deviation value is less than or equal to a preset value (i.e. the aisle width of the aisle where the shuttle vehicle is currently located), the first judgment result indicates that the shuttle vehicle and the followed target device are in the same aisle; when the x-direction coordinate position deviation value is greater than the preset value (i.e. the aisle width of the aisle where the shuttle vehicle is currently located), the first judgment result indicates that the shuttle vehicle and the followed target device are not in the same aisle.

[0062] According to the x-direction coordinate position deviation value x, it is judged whether the shuttle vehicle and the followed target device are in the same aisle, to obtain a first judgment result; wherein, when the x-direction coordinate position deviation value is less than or equal to a preset value (i.e. the aisle width of the aisle where the shuttle vehicle is currently located), the first judgment result indicates that the shuttle vehicle and the followed target device are in the same aisle; when the x-direction coordinate position deviation value is greater than the preset value (i.e. the aisle width of the aisle where the shuttle vehicle is currently located), the first judgment result indicates that the shuttle vehicle and the followed target device are not in the same aisle. X

[0063] In another exemplary embodiment of the present application, in order to avoid mechanical impact caused by sudden acceleration or sudden deceleration in traditional control, a segmented speed control model can be established to realize smooth transition of the shuttle vehicle during movement. The first shuttle vehicle travel distance instruction includes a first shuttle vehicle travel acceleration instruction, a first shuttle vehicle travel constant speed instruction and a first shuttle vehicle travel deceleration instruction, as shown in​​Figure 4 As shown, step 205 above is replaced by steps 2051 to 2055, specifically: Step 2051: Determine the travel distance of the first shuttle car based on the current position information of the target device being followed and the current position information of the shuttle car.

[0064] Step 2052: Divide the travel distance of the first shuttle car into three equal parts to obtain the first acceleration stage, the first constant speed stage, and the first deceleration stage.

[0065] Step 2053: Based on the first acceleration phase, obtain the first shuttle car acceleration command.

[0066] Step 2054: Based on the first uniform speed stage, obtain the first shuttle car's uniform speed instruction.

[0067] Step 2055: Based on the first deceleration stage, a first shuttle car deceleration command is obtained.

[0068] As an example, such as Figure 5 As shown, the current position information of the shuttle car is ( x 0, y 0), the current location information of the target device being followed is ( x 1, y 1) Then, the specific steps 2051 to 2055 above are as follows: When the shuttle car and the target device being followed are in the same lane, the horizontal coordinate value of the shuttle car's current position information. x 0 and the x-coordinate value of the current position information of the target device being followed x 1. The difference is not significant, based on the current location information of the target device being followed ( x 1, y1) and the current position information of the shuttle ( x 0, y 0), determine the distance traveled by the first shuttle car. Y 1, of which: ; In the formula: y 0 represents the vertical coordinate value of the shuttle's current position information; y 1 represents the ordinate value of the current position information of the target device being followed; L 1 represents the distance between the single-base station positioning module installed on the shuttle car and the rear of the shuttle car. Since the single-base station positioning module is installed at the center of the shuttle car, therefore 2 L 1 represents the length of the shuttle car body; L 3 is the distance between the device identification card installed on the target device and the tail of the target device; hThe fixed distance is kept between the followed device and the shuttle vehicle to prevent collision.

[0069] In the process of the first shuttle vehicle travel distance Y 1, the first shuttle vehicle travel distance Y 1 is trisected to obtain a first acceleration stage, a first constant speed stage and a first deceleration stage.

[0070] According to the first acceleration stage, a first shuttle vehicle travel acceleration instruction is obtained, which is used to control the shuttle vehicle to accelerate from 0 to v1 and travel to Y 1 / 3.

[0071] According to the first constant speed stage, a first shuttle vehicle travel constant speed instruction is obtained, which is used to control the shuttle vehicle to travel at a speed of v1 to Y 2 / 3.

[0072] Step 2055, according to the first deceleration stage, a first shuttle vehicle travel deceleration instruction is obtained, which is used to control the shuttle vehicle to decelerate from v1 to 0 and travel to a distance of h from the followed target device, and coal receiving is performed.

[0073] In another exemplary embodiment of the present application, in the double-lane tunneling process, in order to make the path planning of the shuttle vehicle more accurate when crossing the lane, the shuttle vehicle can accurately turn at the connecting lane and enter the target lane to follow the followed device. A dynamic path planning mechanism under the cross-lane scene can be constructed by introducing a connecting lane width parameter and combining it with multi-stage motion control. The second shuttle vehicle travel distance instruction includes a second shuttle vehicle travel acceleration instruction, a second shuttle vehicle travel deceleration instruction, a third shuttle vehicle travel acceleration instruction and a third shuttle vehicle travel deceleration instruction, as shown in Figure 6 The above step 2062 specifically includes: Step 301, the width of the connecting lane is obtained, and the second shuttle vehicle travel distance is determined according to the width of the connecting lane, the current position information of the shuttle vehicle and the position information of the fixed identification card.

[0074] Step 302, the second shuttle vehicle travel distance is bisected to obtain a second acceleration stage and a second deceleration stage.

[0075] Step 303, according to the second acceleration stage, a second shuttle vehicle travel acceleration instruction is obtained.

[0076] Step 304, according to the second deceleration stage, a second shuttle vehicle travel deceleration instruction is obtained; the second shuttle vehicle travel acceleration instruction and the second shuttle vehicle travel deceleration instruction are used to control the shuttle vehicle to travel to the connecting lane.

[0077] Step 305, the current position information of the shuttle vehicle is updated, and when the updated current position information of the shuttle vehicle indicates that the shuttle vehicle travels to the junction, a third shuttle travel distance is determined according to the updated current position information of the shuttle vehicle and the current position information of the followed target device.

[0078] Step 306, the third shuttle travel distance is bisected to obtain a third acceleration stage and a third deceleration stage.

[0079] Step 307, a third shuttle travel acceleration instruction is obtained according to the third acceleration stage.

[0080] Step 308, a third shuttle travel deceleration instruction is obtained according to the third deceleration stage; the third shuttle travel acceleration instruction and the third shuttle travel deceleration instruction are used to control the shuttle vehicle to turn into the second lane after passing through the junction to follow the followed target device.

[0081] As an example, as shown in the figure, the current position information of the shuttle vehicle is (0, 0), and the current position information of the fixed identification card is (2, 2), and the above steps 001-008 are specifically as follows: Figure 7 x 0, y 0), the current position information of the fixed identification card is (2, 2), and the above steps 001-008 are specifically as follows: x y 2, 2), the shuttle vehicle needs to travel to the junction first when the shuttle vehicle and the followed target device are in different lanes, and a second shuttle travel distance is determined according to the width L5 of the junction, the current position information of the shuttle vehicle (0, 0) and the current position information of the fixed identification card (2, 2). x y 2, x 2), the shuttle vehicle needs to travel to the junction first when the shuttle vehicle and the followed target device are in different lanes, and a second shuttle travel distance is determined according to the width L5 of the junction, the current position information of the shuttle vehicle (0, 0) and the current position information of the fixed identification card (2, 2). y Y 2, wherein: ; In the formula: y 0 is the longitudinal coordinate value of the current position information of the shuttle vehicle; y 2 is the longitudinal coordinate value of the current position information of the fixed identification card.

[0082] In the process of the shuttle vehicle traveling the second shuttle travel distance Y 2, the second shuttle travel distance Y 2 is bisected to obtain a second acceleration stage and a second deceleration stage.

[0083] According to the second acceleration stage, a second shuttle travel acceleration instruction is obtained, and the second shuttle travel acceleration instruction is used to control the shuttle vehicle to accelerate to Y 21 / 2.

[0084] ​​​​According to the second deceleration stage, a second shuttle vehicle travel deceleration instruction is obtained, and the second shuttle vehicle travel deceleration instruction is used to control the shuttle vehicle to travel at a deceleration until the shuttle vehicle reaches the junction of the two laneways.

[0085] The current position information of the shuttle vehicle is updated until the shuttle vehicle reaches the junction of the two laneways, and updated current position information of the shuttle vehicle is obtained as (x 2, y 2). x 3, y 3), and the current position information (x 1, y 1) of the target device being followed, a third shuttle vehicle travel distance Y3 is determined, wherein: x y x 1, y 1). ; In the formula, x 1 is a horizontal coordinate value of the current position information of the target device being followed; and x 3 is a horizontal coordinate value of the updated current position information of the shuttle vehicle. x

[0086] In the process of the shuttle vehicle traveling the third shuttle vehicle travel distance Y3, the third shuttle vehicle travel distance Y3 is bisected to obtain a third acceleration stage and a third deceleration stage. Y Y According to the third acceleration stage, a third shuttle vehicle travel acceleration instruction is obtained, and the third shuttle vehicle travel acceleration instruction is used to control the shuttle vehicle to travel at an acceleration until the shuttle vehicle reaches a position (x 3 / 2, y 3 / 2).

[0087] According to the third deceleration stage, a third shuttle vehicle travel deceleration instruction is obtained, and the third shuttle vehicle travel deceleration instruction is used to control the shuttle vehicle to travel at a deceleration until the shuttle vehicle passes through the junction of the two laneways and enters the second laneway. Y

[0088] Further, the current position information of the shuttle vehicle is updated again until the shuttle vehicle passes through the junction of the two laneways and enters the second laneway, and updated current position information of the shuttle vehicle is obtained as (x 4, y 4).

[0089] 4). At this time, the shuttle vehicle and the target device being followed are in the same laneway, and according to the updated current position information (x 4, y 4) of the shuttle vehicle and the current position information (x 1, y 1) of the target device being followed, a fourth shuttle vehicle travel distance Y4 is calculated, wherein: x y x 4. y 4). x y 1. Y 4. ; In the formula, x 1 is a horizontal coordinate value of the current position information of the target device being followed; and y 1 is a vertical coordinate value of the current position information of the target device being followed.​​​​​​​​y 4 is a longitudinal coordinate value of the current position information of the shuttle vehicle after being updated again; L 2 is a length of the shuttle vehicle; L 1 is a distance from the single base station positioning module installed on the shuttle vehicle to the tail of the shuttle vehicle, since the single base station positioning module is installed at the center of the shuttle vehicle, 2 L 1 is a length of the shuttle vehicle; L 3 is a distance from the device identification card installed on the followed target device to the tail of the followed target device; h is a fixed distance that the followed device needs to keep from the shuttle vehicle to prevent collision.

[0090] It can be understood that, since the shuttle vehicle and the followed target device are in the same tunnel, the fourth shuttle vehicle travel distance Y 4 is obtained based on the current position information of the followed target device and the current position information of the shuttle vehicle. Y The process of determining the fourth shuttle vehicle travel distance instruction based on the fourth shuttle vehicle travel distance

[0091] The application also provides an application scenario, which is applied to the single base station positioning-based shuttle vehicle autonomous following control method. Specifically, the single base station positioning-based shuttle vehicle autonomous following control method provided in this embodiment can be applied in an underground tunnel with complex environment and difficult deployment, to realize automatic following of the shuttle vehicle to the followed target device, and can also be applied in an indoor or outdoor mobile robot following scene with high requirements for deployment cost and flexibility, to solve the problems of high cost and complex deployment of the traditional multi-base station or GPS positioning scheme and the problem of inability to use in an indoor or satellite signal shielding area.

[0092] Based on the same inventive concept, the application embodiment also provides a single base station positioning-based shuttle vehicle autonomous following system for implementing the single base station positioning-based shuttle vehicle autonomous following control method. The specific limitations in one or more single base station positioning-based shuttle vehicle autonomous following system embodiments provided below can be referred to the limitations of the single base station positioning-based shuttle vehicle autonomous following control method provided above, and will not be repeated here.

[0093] In an exemplary embodiment, as Figure 8 shown, a single base station positioning-based shuttle vehicle autonomous following control method is provided, comprising: a single base station positioning module, which is installed on the shuttle vehicle and is used to emit a UWB signal.

[0094] A device identification card is installed on the target device to be followed, and a first response signal is formed in response to the UWB signal transmitted by the single base station positioning module.

[0095] As an example, the target device to be followed can be a continuous miner or a bolter miner.

[0096] A fixed identification card is installed at a predetermined position in the roadway, and a second response signal is formed in response to the UWB signal transmitted by the single base station positioning module.

[0097] An information processing module is provided on the shuttle car, and a single base station positioning-based autonomous shuttle car following control method is executed.

[0098] As an example, the single base station positioning module is internally integrated with multiple sets of ranging antennas, including at least one set of main antennas and at least two sets of auxiliary antennas (first auxiliary antennas and second auxiliary antennas), and the distance between the auxiliary antennas and the main antennas does not exceed half of the wavelength of the UWB signal.

[0099] As an optional implementation, to solve the problem that the shuttle car cannot continuously maintain a safe driving trajectory in the case of UWB signal loss or interruption, an emergency control mechanism during signal interruption can be established to achieve safe redundant control in the case of missing positioning signals. When UWB signal loss is detected, the system constructs a short-time motion state calculation model by collecting real-time speed data and inertial measurement data of the shuttle car. Based on the current speed data, the instantaneous displacement can be accurately calculated, and combined with the acceleration and angular velocity parameters in the inertial data, the attitude change and trajectory deviation of the shuttle car in the three-dimensional space can be accurately deduced. The third travel distance instruction generated by fusing these two types of dynamic data not only ensures that the shuttle car maintains the original motion trend before the signal is restored, but also effectively prevents the risk of trajectory deviation caused by the accumulation of calculation errors through the constraint condition of the preset maximum allowed value. The setting of the preset maximum allowed value takes into account the characteristics of the roadway environment, the braking performance of the device, and the safety margin requirement, to ensure that the shuttle car does not exceed the allowable driving range during signal interruption. A single base station positioning-based autonomous shuttle car following control method further includes steps 207-208, wherein: Step 207: During the travel of the shuttle car, when the first response signal or the second response signal cannot be obtained, the current speed data and inertial data of the shuttle car are obtained.

[0100] In step 208, a third shuttle vehicle travel distance instruction is determined according to the current speed data and the inertial data; the third shuttle vehicle travel distance instruction is used to control the shuttle vehicle to continue traveling according to the original track when the first response signal or the second response signal cannot be acquired, and the travel distance does not exceed a preset maximum allowable value.

[0101] Further, a shuttle vehicle autonomous following control system based on single base station positioning further comprises: An inertial navigation module is arranged on the shuttle vehicle, and is used to monitor inertial data of the shuttle vehicle and send the inertial data to the information processing module; the inertial data comprises acceleration data and angular velocity data.

[0102] A speed monitoring module is arranged on the shuttle vehicle, and is used to monitor current speed data of the shuttle vehicle and send the current speed data to the information processing module.

[0103] The information processing module is further used to execute the above-mentioned shuttle vehicle autonomous following control method based on single base station positioning when the shuttle vehicle cannot continuously maintain a safe travel track in the case of UWB signal loss or interruption.

[0104] In an exemplary embodiment, a computer device can be provided, which can be a server or a terminal, and an internal structure diagram thereof can be as shown in Figure 9 The computer device comprises a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database of the computer device is used for the first response signal and the second response signal. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through network connection. The computer program is executed by the processor to implement a shuttle vehicle autonomous following control method based on single base station positioning.

[0105] Those skilled in the art can understand that Figure 9 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can comprise more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0106] In an example embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor implementing the steps in the above method embodiments when executing the computer program.

[0107] In an example embodiment, a computer readable storage medium is provided, storing a computer program, and the computer program implementing the steps in the above method embodiments when executed by a processor.

[0108] In an example embodiment, a computer program product is provided, including a computer program, and the computer program implementing the steps in the above method embodiments when executed by a processor.

[0109] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0110] It can be understood by those skilled in the art that all or part of the processes in the above method embodiments can be completed by a computer program instructing related hardware, and the computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above method embodiments. Any reference to memory, database or other medium used in the embodiments provided by the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0111] The database involved in each embodiment provided by the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a blockchain, and the like, without being limited thereto. The processor involved in each embodiment provided by the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, and the like, without being limited thereto.

[0112] The technical features of the above embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, but it should be considered that any combination of the technical features is within the scope of the present disclosure, as long as the combination does not result in contradictions.

[0113] The principles and implementation modes of the present application are described by applying specific examples herein, and the above embodiments are only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, the specific implementation modes and application ranges will be changed according to the idea of the present application. In summary, the content of the present description should not be understood as a limitation of the present application.

Claims

1. A shuttle car autonomous following control method based on single base station positioning, characterized in that, The shuttle car autonomous following control method based on single base station positioning includes: Determine the type of tunnel excavation process; When the tunnel excavation process type is single-lane excavation process, the single-lane excavation process strategy is executed; When the tunnel excavation process is a dual-tunnel excavation process, a first response signal is acquired, and the current position information of the target device being followed is determined based on the first response signal and the PDOA algorithm. Obtain the current position information of the shuttle car, and based on the current position information of the shuttle car and the current position information of the target device being followed, determine whether the shuttle car and the target device being followed are in the same lane, and obtain a first determination result; If the first judgment result indicates yes, then based on the current position information of the followed target device and the current position information of the shuttle car, the first shuttle car travel distance instruction is determined; If the first judgment result indicates no, then the dual-lane tunneling process strategy is executed; The single-lane tunneling process strategy includes: A first response signal is acquired, and the current location information of the target device being followed is determined based on the first response signal and the PDOA algorithm; the first response signal is a response signal formed after the device identification card responds to the UWB signal emitted by the single base station positioning module; the device identification card is used to be installed on the target device being followed, and the single base station positioning module is used to be installed on the shuttle car; The current position information of the shuttle car is obtained, and based on the current position information of the target device being followed and the current position information of the shuttle car, a first shuttle car travel distance command is determined; the first shuttle car travel distance command is used to control the shuttle car to follow the target device being followed. The dual-lane tunneling process strategy includes: A second response signal is acquired, and the location information of the fixed identification card is determined based on the second response signal and the PDOA algorithm; the fixed identification card is used to be installed at the center position on one side of the connecting lane; the connecting lane is an auxiliary channel connecting the first lane and the second lane; Based on the location information of the fixed identification card, the current location information of the target device being followed, and the current location information of the shuttle car, a second shuttle car travel distance instruction is determined; the current location information of the shuttle car indicates that the shuttle car is in the first lane; the current location information of the target device being followed indicates that the target device being followed is in the second lane; the second shuttle car travel distance instruction is used to control the shuttle car to travel to the connecting lane, and then turn into the second lane after passing through the connecting lane.

2. The shuttle autonomous following method based on single base station positioning according to claim 1, characterized in that, The first shuttle car travel distance command includes a first shuttle car travel acceleration command, a first shuttle car travel constant speed command, and a first shuttle car travel deceleration command; Based on the current position information of the target device being followed and the current position information of the shuttle car, the first shuttle car travel distance instruction is determined, specifically including: Based on the current position information of the target device being followed and the current position information of the shuttle car, the travel distance of the first shuttle car is determined; The distance traveled by the first shuttle car is divided into three equal parts to obtain the first acceleration stage, the first constant speed stage, and the first deceleration stage. Based on the first acceleration phase, the first shuttle car acceleration command is obtained; Based on the first uniform speed stage, the first shuttle car travels at a uniform speed is instructed. Based on the first deceleration phase, a deceleration command for the first shuttle car is obtained.

3. The shuttle autonomous following method based on single base station positioning according to claim 1, characterized in that, The current position information of the shuttle car is ( x 0, y 0), the current location information of the target device being followed is ( x 1, y 1) Based on the current position information of the shuttle car and the current position information of the target device being followed, determine whether the shuttle car and the target device being followed are in the same roadway, and obtain a first determination result, specifically including: According to the current position information of the shuttle car ( x 0, y 0) and the current location information of the target device being followed ( x 1, y 1) Calculate the x-direction coordinate position deviation value; the x-direction is the direction perpendicular to the direction of the shuttle car's movement along the tunnel. Based on the x-direction coordinate position deviation value, it is determined whether the shuttle car and the followed target device are in the same roadway, and a first judgment result is obtained; Wherein, when the x-direction coordinate position deviation value is less than or equal to a preset value, the first judgment result indicates that the shuttle car and the followed target device are in the same lane; When the x-direction coordinate position deviation value is greater than a preset value, the first judgment result indicates that the shuttle car and the target device being followed are not in the same lane.

4. The shuttle autonomous following method based on single base station positioning according to claim 1, characterized in that, The second shuttle car travel distance command includes a second shuttle car travel acceleration command, a second shuttle car travel deceleration command, a third shuttle car travel acceleration command, and a third shuttle car travel deceleration command. Based on the position information of the fixed identification card, the current position information of the followed target device, and the current position information of the shuttle car, the second shuttle car travel distance command is determined, specifically including: Obtain the width of the connecting lane, and determine the travel distance of the second shuttle car based on the width of the connecting lane, the current position information of the shuttle car, and the position information of the fixed identification card; Divide the travel distance of the second shuttle car into two equal parts to obtain the second acceleration phase and the second deceleration phase; Based on the second acceleration phase, a second shuttle car acceleration command is obtained; According to the second deceleration stage, a second shuttle car deceleration command is obtained; the second shuttle car acceleration command and the second shuttle car deceleration command are used to control the shuttle car to travel to the connecting roadway. The current position information of the shuttle car is updated, and when the updated current position information of the shuttle car indicates that the shuttle car has traveled to the connecting lane, the travel distance of the third shuttle car is determined based on the updated current position information of the shuttle car and the current position information of the target device being followed. The travel distance of the third shuttle car is divided into two equal parts to obtain the third acceleration stage and the third deceleration stage; Based on the third acceleration phase, a third shuttle car acceleration command is obtained; Based on the third deceleration stage, a third shuttle car deceleration command is obtained; the third shuttle car acceleration command and the third shuttle car deceleration command are used to control the shuttle car to turn into the second lane after passing through the connecting lane in order to follow the target equipment being followed.

5. The shuttle autonomous following method based on single base station positioning according to claim 1, characterized in that, The shuttle autonomous following method based on single base station positioning also includes: During the shuttle's movement, when the first response signal or the second response signal cannot be obtained, the shuttle's current speed data and inertial data are obtained; Based on the current speed data and the inertial data, a third shuttle car travel distance instruction is determined; the third shuttle car travel distance instruction is used to control the shuttle car to continue traveling along the original trajectory when it cannot obtain the first response signal or the second response signal, and the travel distance does not exceed the preset maximum allowable value.

6. A shuttle autonomous following system based on single base station positioning, characterized in that, The shuttle autonomous following system based on single base station positioning includes: A single base station positioning module is used for installation on a shuttle car and for transmitting UWB signals; The device identification card is used to be installed on the target device being followed, and to respond to the UWB signal transmitted by the single base station positioning module to form a first response signal; A fixed identification card is used to be installed at a preset position in the alleyway, and to form a second response signal in response to the UWB signal transmitted by the single base station positioning module; An information processing module is provided on a shuttle car and is used to execute a shuttle car autonomous following control method based on single base station positioning as described in any one of claims 1-4.

7. A shuttle autonomous following system based on single base station positioning according to claim 6, characterized in that, The single base station positioning module integrates multiple sets of ranging antennas, including at least one main antenna and at least two auxiliary antennas. The distance between the auxiliary antennas and the main antennas does not exceed half the wavelength of the UWB signal.

8. A shuttle autonomous following system based on single base station positioning according to claim 6, characterized in that, The shuttle autonomous following system based on single-base station positioning also includes: An inertial navigation module is installed on the shuttle car and is used to monitor the inertial data of the shuttle car and send the inertial data to the information processing module; the inertial data includes acceleration data and angular velocity data; A speed monitoring module is installed on the shuttle car and is used to monitor the current speed data of the shuttle car and send the current speed data to the information processing module. The information processing module is also used to execute the shuttle autonomous following control method based on single base station positioning as described in claim 5.

9. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that the processor executes the computer program to implement a shuttle autonomous following control method based on single-base station positioning according to any one of claims 1-5.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements a shuttle autonomous following control method based on single base station positioning as described in any one of claims 1-5.

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