CN110174689A - A kind of automatic Pilot mine car discharge process cloud control system and method - Google Patents
A kind of automatic Pilot mine car discharge process cloud control system and method Download PDFInfo
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- CN110174689A CN110174689A CN201910460791.9A CN201910460791A CN110174689A CN 110174689 A CN110174689 A CN 110174689A CN 201910460791 A CN201910460791 A CN 201910460791A CN 110174689 A CN110174689 A CN 110174689A
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- mine car
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- gps
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a kind of automatic Pilot mine car discharge process cloud control system and methods, the present invention gets switch, differential GPS antenna and receiver ready by the GPS location on native machine, bull-dozer can be positioned in real time, cloud control platform can search corresponding bull-dozer GPS location from the time, in conjunction with from the bull-dozer GPS track point cloud received, the position of mine car unloading parking areas is calculated, automatic Pilot mine car is set to carry out discharging automatically, this system structure is simple, at low cost, the degree of reliability is high.
Description
Technical field
The invention belongs to mine car automatic Pilot control fields, and in particular to a kind of automatic Pilot mine car discharge process cloud
Control system and method.
Background technique
For mine car because its work is in closed operation environment, road conditions are relatively easy, and travel route variation is small, are advantageously implemented
Function for Automatic Pilot.But what mining site discharge region can be in progress with unloading work constantly extend out variation, and mine car is every time
Discharge position is simultaneously not fixed, and can be changed with conditions such as the sequencings marched into the arena, this is difficult to find that automatic Pilot mine car
Safety unloads the area that parks.Common practices is that the method that image recognition is taken using the camera installed on mine car is realized to unloading
The determination of carrier vehicle position, but the case where investigated on the spot according to mining area, mining area soot density is high, has larger shadow to the result of image recognition
It rings；And camera limited viewing angle, blind area is more, and dumping ground is autonomous to find discharging parking position difficulty without road markings；Furthermore it is single
A mine car independently finds discharging parking position, realizes uniform sequential unloading difficulties.
It when mine car discharging, needs reverse travel to the edge of discharge zone, then carries out lifting discharging, because of discharging area edge
The mostly biggish inclined-plane of drop, reversing security risk is very big, and mining area generally will use bull-dozer and push away and erect at the edge in unloading area
Barricade prevents overturn accident occur when vehicle discharging.But on the one hand because material density difference in mining area is big, charging is difficult to control
Uniformly, vehicle centroid is not often at center, and with the lifting of big case, vehicle centroid is got higher, and vehicle, which is easy to happen, tumbles；Another party
Mass center moves back when the soft injustice in face discharge region ground or discharging, and sinking of ground will also result in slide-out.
Summary of the invention
The purpose of the present invention is to overcome the above shortcomings and to provide a kind of automatic Pilot mine car discharge process cloud control systems
And method, realization automatic Pilot mine car automatic discharging function that can be reliable, safe, inexpensive.
In order to achieve the above object, a kind of automatic Pilot mine car discharge process cloud control system, including setting are being bulldozed
GPS location on machine gets switch, differential GPS antenna, receiver and remote terminal and cloud control platform Internet-based ready
With automatic Pilot mine car；
Differential GPS antenna connects receiver, and differential GPS antenna is for receiving GPS satellite positioning signal, and by GPS satellite
Positioning signal is sent in receiver；
Receiver obtains the accurate location information of bull-dozer for carrying out processing resolving to GPS satellite positioning signal；
Receiver and GPS location get switch connection remote terminal ready, and remote terminal connects cloud control platform, cloud control platform
Connect automatic Pilot mine car；
It is a self-resetting switch that GPS location, which gets switch ready, for enrolling discharging edge track and GPS time information；
The information that remote terminal is used to collect the real time position of bull-dozer and GPS location gets switch admission ready is uploaded to cloud control
Platform processed；
Cloud control platform is used to search corresponding bull-dozer GPS location from the time, in conjunction with from the bull-dozer GPS rail received
Mark point cloud, is calculated the position of mine car unloading parking areas, and is handed down to the location information as instruction of parking automatically
Drive mine car.
Control platform is that the mining area automatic driving vehicle data storage constructed on Internet server calculates, digitally
Figure revision and vehicle control manage platform.
A kind of control method of automatic Pilot mine car discharge process cloud control system, comprising the following steps:
Step 1 gets switch, differential GPS antenna and receiver ready by the GPS location being arranged on bull-dozer, acquires discharging
Boundary information and bull-dozer location information, and cloud control platform, the letter that cloud control platform will receive are sent to by remote terminal
Breath generates the position of mine car unloading parking areas；
Step 2, the position of mine car unloading parking areas is sent to specified mine car by cloud control platform, before mine car
Discharging is carried out toward designated position.
In step 1, when discharge zone working truck is less, or when starting before discharge operation every time, make bull-dozer from starting point
Start to travel along the edge of discharge region, when beginning presses GPS location and gets switch ready, and cloud platform starts the boundary of admission discharge zone
Curve when arriving discharging edge terminating point, presses GPS location again and gets switch ready, cloud platform completes boundary curve admission, right later
The numerical map of discharge zone is modified, and is split from the origin of curve by safe discharging spacing so that it is determined that mine car unloads
The position of parking areas.
In step 1, when discharge zone working truck is more, cloud platform edge detection algorithm differential GPS from bull-dozer
Marginal point is extracted in antenna and the collected GPS track point cloud of receiver, is modified in conjunction with numerical map, forms discharge zone
Boundary curve is split the position so that it is determined that mine car unloading parking areas from the origin of curve by safe discharging spacing.
In step 1, the position generation method that mine car unloads parking areas is as follows:
Since discharge zone boundary curve starting point, it is split curve by safe discharging spacing of parking, obtains series of points
Position, these points are as point behind the right side in the area that parks, left side of the tangential direction as the area that parks, to be calculated according to vehicle commander and vehicle width
Park out the left back point in area, left front point and it is right before the longitude and latitude position put, obtain the position of complete mine car unloading parking areas
It sets.
In step 2, when mine car discharging operations, curve determination is divided since the discharging boundary origin of curve or terminal and is unloaded
Carry parking areas；Later when discharging, cloud control platform offsets to one side the discharging boundary origin of curve or terminal partly along curve
After a safe discharging distance, then divides curve and determine unloading parking areas.
Compared with prior art, control system of the invention gets switch, differential GPS ready by the GPS location on native machine
Antenna and receiver can position in real time bull-dozer, and cloud control platform can search corresponding bull-dozer GPS from the time
Position is calculated the position of mine car unloading parking areas, makes automatic in conjunction with from the bull-dozer GPS track point cloud received
It drives mine car and carries out discharging automatically, this system structure is simple, and at low cost, the degree of reliability is high.
Control method of the invention gets switch and differential GPS antenna ready by the GPS location being arranged on bull-dozer, and acquisition is unloaded
Expect boundary information and bull-dozer location information, and cloud control platform is sent to by remote terminal, cloud control platform will receive
Information generates the position of mine car unloading parking areas, can make automatic Pilot mine car discharge position accordingly, and automatic execute is unloaded
Material task, this method intelligence degree is high, reliable operation, is able to solve the hardly possible of technology existing for automatic Pilot mine car discharge process
Topic and risk.
Further, it when discharging of the present invention, is successively carried out in turn using two kinds of dividing methods, can guarantee discharge zone boundary
Smoothly.
Detailed description of the invention
Fig. 1 is the logic diagram of control system in the present invention；
Fig. 2 is to combine electronic map to choose new discharging boundary schematic diagram in the present invention；
Fig. 3 is that schematic diagram is divided in unloading parking areas in the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
Referring to Fig. 1, a kind of automatic Pilot mine car discharge process cloud control system, including the GPS being arranged on bull-dozer
It gets switch, differential GPS antenna, receiver and remote terminal and cloud control platform Internet-based ready and drives automatically in position
Sail mine car；
Differential GPS antenna connects receiver, and differential GPS antenna is for receiving GPS satellite positioning signal, and by GPS satellite
Positioning signal is sent in receiver；
Receiver obtains the accurate location information of bull-dozer for carrying out processing resolving to GPS satellite positioning signal；
Receiver and GPS location get switch connection remote terminal ready, and remote terminal connects cloud control platform, cloud control platform
Connect automatic Pilot mine car；
It is a self-resetting switch that GPS location, which gets switch ready, for enrolling discharging edge track and GPS time information；
The information that remote terminal is used to collect the real time position of bull-dozer and GPS location gets switch admission ready is uploaded to cloud control
Platform processed；
Cloud control platform is used to search corresponding bull-dozer GPS location from the time, in conjunction with from the bull-dozer GPS rail received
Mark point cloud, is calculated the position of mine car unloading parking areas, and is handed down to the location information as instruction of parking automatically
Drive mine car.
Control platform is that the mining area automatic driving vehicle data storage constructed on Internet server calculates, digitally
Figure revision and vehicle control manage platform.
Referring to figs. 2 and 3, a kind of control method of automatic Pilot mine car discharge process cloud control system, including it is following
Step:
Step 1 gets switch, differential GPS antenna and receiver ready by the GPS location being arranged on bull-dozer, acquires discharging
Boundary information and bull-dozer location information, and cloud control platform, the letter that cloud control platform will receive are sent to by remote terminal
Breath generates the position of mine car unloading parking areas；
When discharge zone working truck is less, or when starting before discharge operation every time, method is recorded using boundary, make bull-dozer from
Starting point starts to travel along the edge of discharge region, and when beginning presses GPS location and gets switch ready, and cloud platform starts admission discharge zone
Boundary curve, when arriving discharging edge terminating point, press GPS location again and get switch ready, cloud platform is completed boundary curve and is enrolled,
The numerical map of discharge zone is modified later, and is split from the origin of curve by safe discharging spacing so that it is determined that mining
The position of vehicle unloading parking areas.
When discharge zone working truck is more, using data reduction method, cloud platform edge detection algorithm is from bull-dozer
Marginal point is extracted in the collected GPS track point cloud of differential GPS antenna, the marginal point of extraction is only partially discharge zone boundary,
Be modified in conjunction with numerical map, form the boundary curve of discharge zone, from the origin of curve by safe discharging spacing be split from
And determine the position of mine car unloading parking areas.
Referring to fig. 2, h is discharge zone boundary as defined in electronic map Central Plains, and m and n are from from bull-dozer GPS track point cloud
The curve that marginal point fits is extracted, m is the inside curve on former discharge zone boundary, and n is outside curve, and A, B rise for discharging boundary
Initial point.Only it is located at the curve n on the outside of h and is only the discharge zone boundary newly formed.
Referring to Fig. 3, since discharge zone boundary curve starting point A, it is split curve by safe discharging spacing of parking, is obtained
S1、S2、S3A series of points, these points are as point behind the right side in the area that parks, left side of the tangential direction as the area that parks, thus root
The left back point, left front point and the right preceding longitude and latitude position put that the area that parks is calculated according to vehicle commander and vehicle width, obtain complete mine car
Unload the position of parking areas.
Step 2, the position of mine car unloading parking areas is sent to specified mine car by cloud control platform, before mine car
Discharging is carried out toward designated position, when mine car discharging operations, divides curve since the discharging boundary origin of curve or terminal and determines
Unload parking areas；Later when each discharging, cloud control platform by the discharging boundary origin of curve or terminal along curve to side
After deviating half of safe discharging distance, then divides curve and determine unloading parking areas.
When mine car first round discharging operations, from the discharging boundary origin of curve, it is true that A point as shown in Figure 3 starts segmentation curve
Surely parking areas is unloaded.When the second wheel discharging, cloud control platform offsets to one side the discharging boundary origin of curve half along curve
After safe discharging distance, then divides curve and determine unloading parking areas.Third round is from discharging boundary End of Curve, B as shown in Figure 3
Point starts to divide the determining unloading parking areas of curve.When fourth round discharging, cloud control platform is by discharging boundary End of Curve along bent
Line offsets to one side after half of safe discharging distance, then divides curve and determine unloading parking areas.And so on, successively orderly
Even discharging.
It parks discharge process security control.It is parking in uninstall process, automatic Pilot mine car monitors self inertia navigation
The attitude angle and attitudes vibration rate of the real-time continuous output of system.When the two parameters, any one is more than defined safe range
When, if vehicle is in process of parking, first stops immediately, vehicle is sailed into back homeposition of parking, and failure is reported to cloud
Control platform；If vehicle is in uninstall process, stop big case lifting, then control is fallen after rise in place, is lifted big case again and is unloaded
Material, if still over range, falls big case after rise and failure is reported to cloud control platform.Cloud control platform changes discharge zone, and leads to
Know bulldozer operator smooth-riding surface.
Claims (7)
1. a kind of automatic Pilot mine car discharge process cloud control system, which is characterized in that including the GPS being arranged on bull-dozer
It gets switch, differential GPS antenna, receiver and remote terminal and cloud control platform Internet-based ready and drives automatically in position
Sail mine car；
Differential GPS antenna connects receiver, and differential GPS antenna positions GPS satellite for receiving GPS satellite positioning signal
Signal is sent in receiver；
Receiver obtains the accurate location information of bull-dozer for carrying out processing resolving to GPS satellite positioning signal；
Receiver and GPS location get switch connection remote terminal ready, and remote terminal connects cloud control platform, the connection of cloud control platform
Automatic Pilot mine car；
It is a self-resetting switch that GPS location, which gets switch ready, for enrolling discharging edge track and GPS time information；
It is flat that the information that remote terminal is used to collect the real time position of bull-dozer and GPS location gets switch admission ready is uploaded to cloud control
Platform；
Cloud control platform is used to search corresponding bull-dozer GPS location from the time, in conjunction with from the bull-dozer GPS track point received
Cloud, is calculated the position of mine car unloading parking areas, and is handed down to automatic Pilot for the location information as instruction of parking
Mine car.
2. a kind of automatic Pilot mine car discharge process cloud control system according to claim 1, which is characterized in that cloud control
Platform processed is that the mining area automatic driving vehicle data storage constructed on Internet server calculates, numerical map is revised and vehicle
Control management platform.
3. a kind of control method of automatic Pilot mine car discharge process cloud control system described in claim 1, feature exist
In, comprising the following steps:
Step 1 gets switch, differential GPS antenna and receiver ready by the GPS location being arranged on bull-dozer, acquires discharging boundary
Information and bull-dozer location information, and cloud control platform is sent to by remote terminal, cloud control platform is raw by the information received
At the position of mine car unloading parking areas；
The position of mine car unloading parking areas is sent to specified mine car by step 2, cloud control platform, and mine car goes to finger
Carry out discharging is set in positioning.
4. the control method of according to claim 3 kind of automatic Pilot mine car discharge process cloud control system, feature
It is, in step 1, when discharge zone working truck is less, or when starting before discharge operation every time, opens bull-dozer from starting point
Begin to travel along the edge of discharge region, when beginning presses GPS location and gets switch ready, and cloud platform starts to enroll the boundary song of discharge zone
Line when arriving discharging edge terminating point, presses GPS location again and gets switch ready, and cloud platform is completed boundary curve and enrolled, later to unloading
The numerical map in material area is modified, and is split from the origin of curve by safe discharging spacing so that it is determined that mine car unloading pool
The position in vehicle region.
5. the control method of according to claim 3 kind of automatic Pilot mine car discharge process cloud control system, feature
It is, in step 1, when discharge zone working truck is more, cloud platform edge detection algorithm differential GPS day from bull-dozer
Marginal point is extracted in line and the collected GPS track point cloud of receiver, is modified in conjunction with numerical map, forms the side of discharge zone
Boundary's curve is split the position so that it is determined that mine car unloading parking areas from the origin of curve by safe discharging spacing.
6. the control method of according to claim 3 kind of automatic Pilot mine car discharge process cloud control system, feature
It is, in step 1, the position generation method that mine car unloads parking areas is as follows:
Since discharge zone boundary curve starting point, it is split curve by safe discharging spacing of parking, obtains a series of points, this
A little points are as point behind the right side in the area that parks, left side of the tangential direction as the area that parks, to calculate pool according to vehicle commander and vehicle width
Left back point, left front point and the right preceding longitude and latitude position put in vehicle area, obtain the position of complete mine car unloading parking areas.
7. the control method of according to claim 3 kind of automatic Pilot mine car discharge process cloud control system, feature
It is, in step 2, when mine car discharging operations, curve is divided since the discharging boundary origin of curve or terminal and determines unloading pool
Vehicle region；Later when discharging, cloud control platform offsets to one side the discharging boundary origin of curve or terminal half of peace along curve
After full discharging distance, then divides curve and determine unloading parking areas.
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| CN201910460791.9A CN110174689B (en) | 2019-05-30 | 2019-05-30 | Cloud control system and method for unloading process of automatic driving mining vehicle |
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Cited By (2)
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| CN111601276A (en) * | 2020-06-03 | 2020-08-28 | 北京踏歌智行科技有限公司 | Mining area unmanned transportation system based on 5G and unloading cooperative control method thereof |
| CN114510050A (en) * | 2022-02-14 | 2022-05-17 | 北京路凯智行科技有限公司 | Method and system for specifying unloading position of unmanned system in mining area |
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| CN110174689B (en) | 2022-09-20 |
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