CN113525418A - Method for automatic control path of transport truck in mining area - Google Patents
Method for automatic control path of transport truck in mining area Download PDFInfo
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- CN113525418A CN113525418A CN202110651414.0A CN202110651414A CN113525418A CN 113525418 A CN113525418 A CN 113525418A CN 202110651414 A CN202110651414 A CN 202110651414A CN 113525418 A CN113525418 A CN 113525418A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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Abstract
本发明涉及一种矿区运输卡车自动控制路径的方法。现有技术的无人驾驶的路径技术主要聚焦城市道路场景，是基于高精地图的点对点驾驶，并没有成熟的应用与矿山场景的控制路径方法。本发明该方法包括如下步骤：首先是矿区运输卡车的工作流程包括装载、回程、卸载、去程4个工作过程，所述的工作流程各个子任务之间差异较大，每个子任务之间互相独立，中控平台发送调度命令,选定无人驾驶的矿区运输卡车执行指定子任务作业命令，规划模块负责执行当前的任务，并反馈实时执行情况，其中装载区与卸载区的任务具体包括行驶阶段、入库第一阶段、入库第二阶段、出库阶段，实现了无人驾驶矿车能够安全精准行驶。本发明用于矿区运输卡车自动控制路径的方法。
The invention relates to a method for automatically controlling the path of a transport truck in a mining area. The existing unmanned path technology mainly focuses on urban road scenes, which is point-to-point driving based on high-precision maps, and there is no mature application and control path method for mine scenes. The method of the present invention includes the following steps: firstly, the working process of the mining area transport truck includes four working processes: loading, returning, unloading, and going. Independent, the central control platform sends scheduling commands, selects the unmanned mining area transport truck to execute the specified sub-task job command, the planning module is responsible for executing the current task, and feeds back the real-time execution status. The tasks of the loading area and the unloading area include driving. Stage, the first stage of storage, the second stage of storage, and the stage of storage, realize the safe and accurate driving of the unmanned minecart. The present invention is used for a method for automatically controlling the path of a transport truck in a mining area.
Description
Technical Field
The invention relates to a method for automatically controlling a path of a mining area transport truck.
Background
Compared with urban roads, an open-air mine field has a single driving route, obstacles and various scenes are controllable, the road is a very promising landing direction in unmanned driving, meanwhile, the operation conditions of a mine area are hard, and various risks of manual operation can be avoided by applying the unmanned driving technology; the unmanned path technology in the prior art mainly focuses on urban road scenes, is point-to-point driving based on a high-precision map, and does not have a mature path control method applied to mine scenes. Meanwhile, the map of the mine has the problems of large variability, no obvious lane lines and the like, the task flow is complex, and the existing unmanned driving technology of the urban road cannot be well adapted to the operation scene of the mining truck.
Disclosure of Invention
The invention aims to provide a method for automatically controlling paths of a mining area transportation truck, which can effectively realize control tasks of various paths of an unmanned mine car in the working process, complete the whole operation process, send planning module information to a lower-layer control module for execution, and simultaneously communicate with a cloud dispatching center to ensure that the unmanned mine car can safely and accurately run.
The above purpose is realized by the following technical scheme:
a method of automatically controlling a path of a mine haul truck, the method comprising the steps of: firstly, the working process of the mining area transportation truck comprises 4 working processes of loading, returning, unloading and going, the difference between all subtasks of the working process is large, each subtask is independent, the central control platform sends a scheduling command, an unmanned mining area transportation truck is selected to execute a specified subtask operation command, and the planning module is responsible for executing the current task and feeding back the real-time execution condition;
(1) loading area
And (3) a driving stage: driving the mine area transportation truck from an unloading area to a fixed terminal position a of a loading area;
warehousing a first stage: the position of the excavator is reported to a dispatching platform, the dispatching platform calculates a proper reversing point b and sends the reversing point b to a planning module, and the mining area transport truck drives to the position of the point a;
and warehousing in a second stage: after the mining area transport truck finishes automatic driving at the point b, the dispatching platform sends an instruction, the mining area transport truck starts backing to the forklift position and moves to a range c within 2 meters of the forklift, or after the mining area transport truck cannot move for 10-30 seconds when meeting an obstacle, the task is finished;
and (3) ex-warehouse stage: the dispatching platform calculates the position of a proper re-road-returning point according to the loading position c, and the mining area transport truck starts from c and returns to the road again to prepare a task of the next driving stage;
(2) unloading area
And (3) a driving stage: driving the mine area transport truck from the loading area to a fixed end position d of the unloading area, and waiting for the cloud end to send an unloading instruction;
warehousing a first stage: the unloading point position is reported to a dispatching platform by a bulldozer, the dispatching platform calculates a proper backing point e and sends the backing point e to a planning module, and the mining area transport truck drives to the point e;
and warehousing in a second stage: after the mining area transport truck finishes automatic driving at the point e, the dispatching platform sends an instruction, the mining area transport truck starts backing to the unloading position and moves to the unloading point within 1 m f, or after the mining area transport truck cannot move for 10-30 seconds when meeting obstacles, the task is finished;
and (3) ex-warehouse stage: and the dispatching platform calculates the position of a proper road returning point according to the dumping position f, and the mining area transport truck starts from the point f and returns to the road again to prepare a task of the next driving stage.
According to the method for automatically controlling the route of the mining area transport truck, the driving stage is a common point-to-point automatic driving task, and a normal automatic driving planning module can be used continuously;
the task of the first warehousing stage aims at finding a feasible initial reversing point of the second warehousing stage as an end point of the task of the stage, and the position of the end point needs to be dynamically determined as a forklift point or an unloading point possibly changes for each task cycle;
the determination method comprises the following steps: making a vertical line from a forklift point or an unloading point to a road, extending the intersection point forward by 20m, wherein the specific numerical value is determined by the turning radius of the mining area transport truck, and the turning radius of the vehicle is more than 2 times, and after the dispatching platform calculates the terminal position, the dispatching platform sends the terminal position to a planning module, and the normal automatic driving planning module can still be used;
the task of the second stage of warehousing is vehicle planning without a lane line, the dispatching platform sends the position of a target point forklift point or an unloading point and target orientation angle information to the planning module, the planning module adopts a Dubins curve to construct a lane center line after receiving the target point information, one of four line types of RSR, LSL, RSL and LSR with the shortest total distance is selected as an optimal lane center line, then the extended vehicle width of half vehicle +1 meter on the left and the right of the center line is used as a lane boundary, and then the normal planning module can be used for constructing track information.
Has the advantages that:
1. the invention mainly provides a method for automatically controlling a path of a mining area transportation truck, which can effectively solve the defect that the prior art does not have the automatic control path of an unmanned mining area truck in a mine scene, adopts a central control platform to send a scheduling command, selects an unmanned mine car to execute a specified subtask operation command, is responsible for executing a current task through a planning module, and sends the information of the planning module to a lower-layer control module to execute, and simultaneously communicates with a cloud scheduling center, so that the unmanned mine car can be ensured to safely and accurately run.
2. The invention is suitable for the automatic driving application scene of the mine open-pit mine and can assist in realizing the stable operation of automatic driving.
3. The method solves the problems of hard mining area environment, high operation risk and high manual operation cost, and can reduce the labor cost and the safety risk of operators in a long term by using the unmanned mine car.
Description of the drawings:
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a schematic view of the loading bay haul truck trip of the present invention.
FIG. 3 is a schematic view of the haul truck trip in the unloading area of the present invention.
Fig. 4 is one of the driving diagrams of the mine haul truck of the present invention.
Fig. 5 is a second schematic view of the drive of a mine delivery truck of the present invention.
Fig. 6 is a third schematic view of the drive of a mine haul truck of the present invention.
Figure 7 is a fourth schematic view of the mine haul truck of the present invention.
Fig. 8 is a schematic view of the mine haul truck elevation of the present invention.
The specific implementation mode is as follows:
example 1:
a method of automatically controlling a path of a mine haul truck, the method comprising the steps of: firstly, the working process of the mining area transportation truck comprises 4 working processes of loading, returning, unloading and going, the difference between all subtasks of the working process is large, each subtask is independent, the central control platform sends a scheduling command, an unmanned mining area transportation truck is selected to execute a specified subtask operation command, and the planning module is responsible for executing the current task and feeding back the real-time execution condition;
(1) loading area
And (3) a driving stage: driving the mine area transportation truck from an unloading area to a fixed terminal position a of a loading area;
warehousing a first stage: the position of the excavator is reported to a dispatching platform, the dispatching platform calculates a proper reversing point b and sends the reversing point b to a planning module, and the mining area transport truck drives to the position of the point a;
and warehousing in a second stage: after the mining area transport truck finishes automatic driving at the point b, the dispatching platform sends an instruction, the mining area transport truck starts backing to the forklift position and moves to a range c within 2 meters of the forklift, or after the mining area transport truck cannot move for 10-30 seconds when meeting an obstacle, the task is finished;
and (3) ex-warehouse stage: the dispatching platform calculates the position of a proper re-road-returning point according to the loading position c, and the mining area transport truck starts from c and returns to the road again to prepare a task of the next driving stage;
(2) unloading area
And (3) a driving stage: driving the mine area transport truck from the loading area to a fixed end position d of the unloading area, and waiting for the cloud end to send an unloading instruction;
warehousing a first stage: the unloading point position is reported to a dispatching platform by a bulldozer, the dispatching platform calculates a proper backing point e and sends the backing point e to a planning module, and the mining area transport truck drives to the point e;
and warehousing in a second stage: after the mining area transport truck finishes automatic driving at the point e, the dispatching platform sends an instruction, the mining area transport truck starts backing to the unloading position and moves to the unloading point within 1 m f, or after the mining area transport truck cannot move for 10-30 seconds when meeting obstacles, the task is finished;
and (3) ex-warehouse stage: and the dispatching platform calculates the position of a proper road returning point according to the dumping position f, and the mining area transport truck starts from the point f and returns to the road again to prepare a task of the next driving stage.
Example 2:
according to the method for automatically controlling the route of the mining area transport truck in the embodiment 1, the driving stage is a common point-to-point automatic driving task, and a normal automatic driving planning module can be used;
the task of the first warehousing stage aims at finding a feasible initial reversing point of the second warehousing stage as an end point of the task of the stage, and the position of the end point needs to be dynamically determined as a forklift point or an unloading point possibly changes for each task cycle;
the determination method comprises the following steps: making a vertical line from a forklift point or an unloading point to a road, extending the intersection point forward by 20m, wherein the specific numerical value is determined by the turning radius of the mining area transport truck, and the turning radius of the vehicle is more than 2 times, and after the dispatching platform calculates the terminal position, the dispatching platform sends the terminal position to a planning module, and the normal automatic driving planning module can still be used;
the task of the second stage of warehousing is vehicle planning without a lane line, the dispatching platform sends the position of a target point forklift point or an unloading point and target orientation angle information to the planning module, the planning module adopts a Dubins curve to construct a lane center line after receiving the target point information, one of four line types of RSR, LSL, RSL and LSR with the shortest total distance is selected as an optimal lane center line, then the extended vehicle width of half vehicle +1 meter on the left and the right of the center line is used as a lane boundary, and then the normal planning module can be used for constructing track information.
For the lifting task of the mining area transportation truck, the vehicle only needs to lift and lower the container in situ, and the corresponding container dumping strategy is shown in fig. 8:
in addition, there is a possibility of execution failure during task execution, and additional processing and protection measures are required for the status exception:
in the middle of the task: and if the new task instruction of the scheduling platform is received abnormally, the planning module does not respond, and the planning module needs to wait for failure of task feedback of the graph platform or manual takeover and then responds to the new task request.
And (3) task failure: because the environment is changeable, the vehicle drive-by-wire is unstable, and other factors, the situation of task failure can often appear in the real operation process, the task failure fed back by the manual takeover and planning module is regarded as failure, and at the moment, the task on the next step is divided into two situations:
(1) after the obstacle is eliminated, the task of the stage can be tried again: the dispatching platform judges whether the task can be carried out again according to the states of the main vehicle, the position of a target point and the like. If the initiation condition is met, corresponding task information is sent to the planning module again;
(2) the manual operation directly completes the task of the stage, and the task of the next stage is started: and the dispatching platform is initiated by a security officer and judges whether the next task can be carried out or not according to the states of the main vehicle, the position of a target point and the like. If the initiating condition is met, sending corresponding task information to a planning module;
wherein: the RSR in fig. 4 is the straight right side of the mine haul truck travel path; the LSL in fig. 5 is the drive path of the mine haul truck is left straight; RSL in fig. 6 is the straight right-left driving route of the mine haul truck; the LSR in figure 7 is that the driving path of the mining area transport truck is left and right (concretely, L is left, S is a straight line, and R is right).
Claims (2)
1. A method for automatically controlling a path of a mining area transport truck is characterized by comprising the following steps: the method comprises the following steps: firstly, the working process of the mining area transportation truck comprises 4 working processes of loading, returning, unloading and going, the difference between all subtasks of the working process is large, each subtask is independent, the central control platform sends a scheduling command, an unmanned mining area transportation truck is selected to execute a specified subtask operation command, and the planning module is responsible for executing the current task and feeding back the real-time execution condition;
(1) loading area
And (3) a driving stage: driving the mine area transportation truck from an unloading area to a fixed terminal position a of a loading area;
warehousing a first stage: the position of the excavator is reported to a dispatching platform, the dispatching platform calculates a proper reversing point b and sends the reversing point b to a planning module, and the mining area transport truck drives to the position of the point a;
and warehousing in a second stage: after the mining area transport truck finishes automatic driving at the point b, the dispatching platform sends an instruction, the mining area transport truck starts backing to the forklift position and moves to a range c within 2 meters of the forklift, or after the mining area transport truck cannot move for 10-30 seconds when meeting an obstacle, the task is finished;
and (3) ex-warehouse stage: the dispatching platform calculates the position of a proper re-road-returning point according to the loading position c, and the mining area transport truck starts from c and returns to the road again to prepare a task of the next driving stage;
(2) unloading area
And (3) a driving stage: driving the mine area transport truck from the loading area to a fixed end position d of the unloading area, and waiting for the cloud end to send an unloading instruction;
warehousing a first stage: the unloading point position is reported to a dispatching platform by a bulldozer, the dispatching platform calculates a proper backing point e and sends the backing point e to a planning module, and the mining area transport truck drives to the point e;
and warehousing in a second stage: after the mining area transport truck finishes automatic driving at the point e, the dispatching platform sends an instruction, the mining area transport truck starts backing to the unloading position and moves to the unloading point within 1 m f, or after the mining area transport truck cannot move for 10-30 seconds when meeting obstacles, the task is finished;
and (3) ex-warehouse stage: and the dispatching platform calculates the position of a proper road returning point according to the dumping position f, and the mining area transport truck starts from the point f and returns to the road again to prepare a task of the next driving stage.
2. The method of automatically controlling the path of a mine haul truck of claim 1, further comprising: the driving stage is a common point-to-point automatic driving task, and a normal automatic driving planning module can be continuously used;
the task of the first warehousing stage aims at finding a feasible initial reversing point of the second warehousing stage as an end point of the task of the stage, and the position of the end point needs to be dynamically determined as a forklift point or an unloading point possibly changes for each task cycle;
the determination method comprises the following steps: making a vertical line from a forklift point or an unloading point to a road, extending the intersection point forward by 20m, wherein the specific numerical value is determined by the turning radius of the mining area transport truck, and the turning radius of the vehicle is more than 2 times, and after the dispatching platform calculates the terminal position, the dispatching platform sends the terminal position to a planning module, and the normal automatic driving planning module can still be used;
the task of the second stage of warehousing is vehicle planning without a lane line, the dispatching platform sends the position of a target point forklift point or an unloading point and target orientation angle information to the planning module, the planning module adopts a Dubins curve to construct a lane center line after receiving the target point information, one of four line types of RSR, LSL, RSL and LSR with the shortest total distance is selected as an optimal lane center line, then the extended vehicle width of half vehicle +1 meter on the left and the right of the center line is used as a lane boundary, and then the normal planning module can be used for constructing track information.
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| PCT/CN2022/094942 WO2022257767A1 (en) | 2021-06-11 | 2022-05-25 | Method for automatically controlling path of mining area transport truck |
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