CN114084124B - Automatic parking method and device for unmanned mine car - Google Patents
Automatic parking method and device for unmanned mine car Download PDFInfo
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- CN114084124B CN114084124B CN202210076887.7A CN202210076887A CN114084124B CN 114084124 B CN114084124 B CN 114084124B CN 202210076887 A CN202210076887 A CN 202210076887A CN 114084124 B CN114084124 B CN 114084124B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000004891 communication Methods 0.000 claims abstract description 66
- 238000005065 mining Methods 0.000 claims description 12
- 238000012937 correction Methods 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 4
- 238000012216 screening Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 16
- 239000011707 mineral Substances 0.000 description 16
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 239000003550 marker Substances 0.000 description 2
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- 238000013473 artificial intelligence Methods 0.000 description 1
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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Abstract
The invention relates to the technical field of unmanned mine car driving, and particularly discloses an automatic parking method and device for an unmanned mine car. The invention judges whether the mine car is in a pre-parking space or not by acquiring the current running position of the mine car in real time; when the current mine car is in a pre-parking space, performing communication connection with a front mine car in the pre-parking space to obtain parking position data of the front mine car; correcting the parking position to generate a corrected position; and generating a parking route, and controlling the current mine car to automatically park according to the parking route. After the current mine car enters the pre-parking space, the parking position of the front mine car which is automatically parked and driven out is obtained, the parking position is corrected to generate a corrected position, the route is planned according to the corrected position, automatic parking is carried out according to the planned parking route, the parking position does not need to be reselected and judged every time, and the parking efficiency of the unmanned mine car is improved.
Description
Technical Field
The invention belongs to the technical field of unmanned mine car driving, and particularly relates to an automatic parking method and device for an unmanned mine car.
Background
The unmanned technology is a complex of multi-leading-edge subjects such as sensors, computers, artificial intelligence, communication, navigation positioning, mode recognition, machine vision, intelligent control and the like. With the development of science and technology, intelligent unmanned vehicles are gradually known, and since a driver is not required to drive the vehicle, functions such as automatic departure, automatic driving, automatic parking and the like can be realized.
The unmanned technology of the mine car is an important research direction of the unmanned technology. When an unmanned mine car is used for mineral transportation, a plurality of unmanned mine cars are usually used for alternate mineral transportation. When an existing unmanned mine car enters a parking area, the automatic parking position needs to be judged and selected again usually, and the automatic parking position cannot be selected in a linkage mode among a plurality of unmanned mine cars, so that a certain time needs to be spent for reselecting the parking position when each unmanned mine car automatically parks, and the parking efficiency of the unmanned mine car is affected.
Disclosure of Invention
The invention aims to provide an automatic parking method and device for an unmanned mine car, and aims to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic parking method of an unmanned mine car, which comprises the following steps:
acquiring the running position of the current mine car in real time, and judging whether the current mine car is in a pre-parking space or not according to the running position;
when the current mine car is in a pre-parking space, performing communication connection with a front mine car in the pre-parking space to obtain parking position data of the front mine car;
selecting a parking position according to the parking position data, and correcting the parking position to generate a corrected position;
marking the corrected position to generate a position mark;
and planning a route according to the position mark and the driving position to generate a parking route, and controlling the current mine car to automatically park according to the parking route.
As a further limitation of the technical scheme of the present invention, the obtaining of the running position of the current tramcar in real time, and the determining whether the current tramcar is in the pre-parking space according to the running position specifically includes the following steps:
acquiring a working area, marking the working area and generating an area boundary mark;
generating a pre-parking space according to the region boundary mark;
acquiring the running position of the current mine car in real time;
and judging whether the current mine car is in a pre-parking space or not according to the running position.
As a further limitation of the technical solution of the present invention, the generating of the pre-parking space according to the area boundary markers specifically includes the following steps:
acquiring the access route information of the current mine car;
generating cross position data according to the access route information and the area boundary marks;
and generating a pre-parking space according to the cross position data.
As a further limitation of the technical solution of the present invention, when the current tramcar is in the pre-parking space, the step of performing communication connection with a front tramcar in the pre-parking space to obtain the parking position data of the front tramcar specifically includes the following steps:
when the current mine car is in the pre-parking space, generating and sending a communication connection request;
performing communication connection with the front mine car in the pre-parking space according to the communication connection request;
and acquiring parking position data of the front mine car.
As a further limitation of the technical solution of the present invention, the performing communication connection with the front mine car in the pre-parking space according to the communication connection request specifically includes the following steps:
performing communication connection with a plurality of working mine cars in the pre-parking space according to the communication connection request;
acquiring the working states of a plurality of working mine cars;
according to the working state, screening the front mine car which finishes automatic parking and exits from the parking position;
maintaining a communicative connection with the front position mine car.
As a further limitation of the technical solution of the present invention, the selecting a parking position according to the parking position data, and correcting the parking position to generate a corrected position specifically includes the following steps:
selecting a parking position according to the parking position data;
marking the parking position to generate a parking mark;
and correcting according to the parking mark and the area boundary mark to generate a corrected position.
As a further limitation of the technical solution of the present invention, the performing route planning according to the position mark and the driving position to generate a parking route, and controlling the current mine car to perform automatic parking according to the parking route specifically includes the following steps:
carrying out route planning according to the position mark and the driving position to generate a parking route;
acquiring environmental data around the current mine car;
and controlling the current mine car to automatically park according to the parking route based on the environment data.
An automatic parking device of an unmanned mine car comprises a pre-parking space judging system, a parking position data acquiring system, a parking position correcting system, a correcting position marking system and an automatic parking control system, wherein:
the pre-parking space judgment system is used for acquiring the running position of the current mine car in real time and judging whether the current mine car is in a pre-parking space or not according to the running position;
the parking position data acquisition system is used for carrying out communication connection with a front mine car in the pre-parking space when the current mine car is in the pre-parking space, and acquiring parking position data of the front mine car;
the parking position correction system is used for selecting a parking position according to the parking position data, correcting the parking position and generating a corrected position;
the corrected position marking system is used for marking the corrected position to generate a position mark;
and the automatic parking control system is used for planning a route according to the position mark and the driving position, generating a parking route and controlling the current mine car to automatically park according to the parking route.
As a further limitation of the technical solution of the present invention, the pre-parking space determining system specifically includes:
the region boundary marking unit is used for acquiring a working region, marking the working region and generating a region boundary mark;
the pre-parking space generation unit is used for generating a pre-parking space according to the region boundary mark;
the running position acquisition unit is used for acquiring the running position of the current mine car in real time;
and the mine car position judging unit is used for judging whether the current mine car is in the pre-parking space or not according to the running position.
As a further limitation of the technical solution of the present invention, the parking position data acquiring system specifically includes:
the communication connection request unit is used for generating and sending a communication connection request when the current mine car is in a pre-parking space;
the communication connection performing unit is used for performing communication connection with the front mine car in the pre-parking space according to the communication connection request;
and the parking position acquisition unit is used for acquiring the parking position data of the front tramcar.
Compared with the prior art, the invention has the beneficial effects that:
the invention judges whether the mine car is in a pre-parking space or not by acquiring the current running position of the mine car in real time; when the current mine car is in a pre-parking space, performing communication connection with a front mine car in the pre-parking space to obtain parking position data of the front mine car; correcting the parking position to generate a corrected position; and generating a parking route, and controlling the current mine car to automatically park according to the parking route. After the current mine car enters the pre-parking space, the parking position of the front mine car which is automatically parked and driven out is obtained, the parking position is corrected to generate a corrected position, the route is planned according to the corrected position, automatic parking is carried out according to the planned parking route, the parking position does not need to be reselected and judged every time, and the parking efficiency of the unmanned mine car is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces embodiments or drawings used in the prior art description, and obviously, the drawings in the following description are only some embodiments of the present invention.
Fig. 1 shows a flow chart of a method provided by an embodiment of the invention.
Fig. 2 shows a flowchart of the driving position determination in the method provided by the embodiment of the invention.
Fig. 3 is a flowchart illustrating the generation of the pre-parking space in the method according to the embodiment of the present invention.
Fig. 4 is a flowchart illustrating parking location data acquisition in a method provided by an embodiment of the invention.
FIG. 5 is a flow chart illustrating the communication link between front mine cars in the method provided by the embodiment of the invention.
Fig. 6 is a flowchart illustrating parking position correction in the method according to the embodiment of the present invention.
Fig. 7 is a flowchart illustrating an automatic parking planning control method according to an embodiment of the present invention.
Fig. 8 shows an application architecture diagram of a system provided by an embodiment of the invention.
Fig. 9 is a block diagram showing a structure of a pre-parking space judging system in the system according to the embodiment of the present invention.
Fig. 10 is a block diagram showing a configuration of a parking position data acquisition system in the system according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It can be understood that, in the prior art, when an unmanned mine car enters a parking area, the automatic parking position is usually required to be re-determined and selected, and the automatic parking position cannot be selected in a linkage manner among a plurality of unmanned mine cars, so that each unmanned mine car needs to spend a certain time for re-selecting the parking position each time the unmanned mine car is automatically parked, and the parking efficiency of the unmanned mine car is influenced.
In order to solve the problems, the embodiment of the invention judges whether the current running position of the mine car is in the pre-parking space or not by acquiring the running position of the current mine car in real time; when the current mine car is in a pre-parking space, performing communication connection with a front mine car in the pre-parking space to obtain parking position data of the front mine car; correcting the parking position to generate a corrected position; and generating a parking route, and controlling the current mine car to automatically park according to the parking route. After the current mine car enters the pre-parking space, the parking position of the front mine car which is automatically parked and driven out is obtained, the parking position is corrected to generate a corrected position, the route is planned according to the corrected position, automatic parking is carried out according to the planned parking route, the parking position does not need to be reselected and judged every time, and the parking efficiency of the unmanned mine car is improved.
Fig. 1 shows a flow chart of a method provided by an embodiment of the invention.
Specifically, the automatic parking method for the unmanned mine car specifically comprises the following steps:
and S101, acquiring the running position of the current mine car in real time, and judging whether the current mine car is in a pre-parking space or not according to the running position.
In the embodiment of the invention, when the current mine car is unmanned to transport minerals, the current mine car is positioned, the running position of the current mine car is obtained in real time, and whether the current mine car enters the pre-parking space or not is judged.
Specifically, fig. 2 shows a flowchart of the driving position determination in the method provided by the embodiment of the present invention.
In a preferred embodiment of the present invention, the obtaining of the running position of the current tramcar in real time, and the determining whether the current tramcar is in the pre-parking space according to the running position specifically includes the following steps:
step S1011, acquiring a working area, and marking the working area to generate an area boundary marker.
In the embodiment of the invention, the working area of mineral feeding or mineral discharging is obtained, and the working area is marked on the navigation map of the current mine car to generate the area boundary mark.
Step S1012, a preliminary parking space is generated according to the area boundary markers.
In the embodiment of the invention, the pre-parking space of the current mine car is generated by comprehensively analyzing the area boundary marks of the working area and the running route of the current mine car.
Specifically, fig. 3 shows a flowchart of generating a pre-parking space in the method provided by the embodiment of the invention.
In a preferred embodiment of the present invention, the generating of the pre-parking space according to the area boundary markers specifically includes the following steps:
and step S10121, obtaining the access route information of the current mine car.
In the embodiment of the invention, the access route information of the current mine car at the working area is obtained according to the navigation route of the unmanned mine car.
Step S10122, generating intersection position data according to the access route information and the area boundary markers.
In the embodiment of the invention, the access route information and the area boundary mark are comprehensively analyzed, the crossing position of the mineral transportation access route and the area boundary mark is obtained, and crossing position data is generated.
And step S10123, generating a pre-parking space according to the intersection position data.
In the embodiment of the invention, according to the data of the intersection position, the preset extension distance is increased on the basis of the intersection position, and the pre-parking space is generated.
Further, the step of acquiring the running position of the current mine car in real time and judging whether the current mine car is in the pre-parking space according to the running position further comprises the following steps:
and step S1013, acquiring the running position of the current mine car in real time.
In the embodiment of the invention, the current mine car is positioned, and the running position of the current mine car is obtained in real time.
And step S1014, judging whether the current mine car is in a pre-parking space according to the running position.
In the embodiment of the invention, whether the running position is in the pre-parking space or not is analyzed according to the running position of the current mine car, and whether the current mine car is in the pre-parking space or not is judged.
Further, the automatic parking method of the unmanned mine car further comprises the following steps:
and S102, when the current mine car is in a pre-parking space, performing communication connection with a front mine car in the pre-parking space, and acquiring parking position data of the front mine car.
In the embodiment of the invention, after the current mine car enters the pre-parking space, the current mine car is in communication connection with the front mine car in the pre-parking space, and the parking position data sent by the front mine car to the current mine car is received. The front mine car is a working mine car which is just automatically parked in a pre-parking space and finishes mineral feeding or discharging.
It can be understood that a plurality of unmanned mine cars may exist in the pre-parking space, some unmanned mine cars may stay in the pre-parking space and pause work, some working mine cars perform mineral loading and unloading together with the current mine car, after the current mine car enters the pre-parking space, the current mine car can be in communication connection with the front mine car which has just performed automatic parking and completes mineral loading or unloading, and the parking position data of the front mine car is obtained, so that the current mine car does not need to perform parking position selection again, the time for parking position selection and scanning is reduced, and the automatic parking efficiency of the unmanned mine car is improved.
Specifically, fig. 4 shows a flowchart of parking location data acquisition in the method provided by the embodiment of the invention.
In a preferred embodiment of the present invention, when the current mine car is in a pre-parking space, the communication connection with a front mine car in the pre-parking space is performed, and the acquiring of the parking position data of the front mine car specifically includes the following steps:
and step S1021, when the current mine car is in the pre-parking space, generating and sending a communication connection request.
In the embodiment of the invention, after the current mine car enters the pre-parking space, the communication connection request is generated and sent outwards.
And step S1022, performing communication connection with the front mine car in the pre-parking space according to the communication connection request.
In the embodiment of the invention, after the front mine car receives the communication connection request, the connection request of the current mine car is agreed, and the communication connection between the current mine car and the front mine car is established at the moment.
Specifically, FIG. 5 shows a flow chart of the front position tramcar communication link in the method provided by the embodiment of the invention.
In a preferred embodiment of the present invention, the communicatively connecting with the front mine car in the pre-parking space according to the communication connection request specifically includes the following steps:
and step S10221, performing communication connection with a plurality of working mine cars in the pre-parking space according to the communication connection request.
In an embodiment of the invention, there may be a plurality of work cars in the pre-parking space that are communicatively coupled to the current car after receiving the communication connection request.
And step S10222, acquiring the working states of a plurality of working mine cars.
In an embodiment of the invention, a plurality of working mine cars each send operating status information to the current mine car.
And step S10223, screening the front mine car which finishes automatic parking and exits from the parking position according to the working state.
And step S10224, maintaining the communication connection with the front mine car.
In the embodiment of the invention, the working mine cars which are just automatically parked and finish mineral loading or unloading are marked as front mine cars by judging the working states of the plurality of working mine cars, the communication connection with the front mine cars is kept, and the communication connection with other working mine cars is disconnected.
Further, when the current tramcar is in the pre-parking space, the communication connection is performed between the current tramcar and a front tramcar in the pre-parking space, and the obtaining of the parking position data of the front tramcar further includes the following steps:
and step S1023, parking position data of the front tramcar is obtained.
In the embodiment of the invention, the parking position data sent by the front mine car is received, and specifically, the parking position data is the position data of automatic parking of the front mine car.
Further, the automatic parking method of the unmanned mine car further comprises the following steps:
and step S103, selecting a parking position according to the parking position data, and correcting the parking position to generate a corrected position.
In the embodiment of the invention, the parking position is selected on the navigation map according to the received parking position data, and the parking position is corrected according to the actual situation to generate the corrected position.
Specifically, fig. 6 shows a flowchart of parking position correction in the method according to the embodiment of the present invention.
In a preferred embodiment of the present invention, the selecting a parking location according to the parking location data, and correcting the parking location to generate a corrected location specifically includes the following steps:
and step S1031, selecting parking positions according to the parking position data.
In the embodiment of the invention, the parking position data sent by the front mine car is analyzed to obtain the parking position of the front mine car which just completes automatic parking.
And step S1032, marking the parking position to generate a parking mark.
In the embodiment of the invention, the parking position is marked on the navigation map to generate the parking mark.
And step S1033, correcting according to the parking mark and the area boundary mark, and generating a corrected position.
In the embodiment of the invention, the parking mark and the area boundary mark are comprehensively analyzed, and the parking position is corrected according to the analysis result to generate the corrected position.
It can be understood that the working area is changed all the time as the mineral loading or unloading is kept all the time, and the parking position is corrected through the real-time updated area boundary mark and the parking mark comprehensive analysis, so that the corrected position after correction is more suitable for the mineral loading or unloading work of the current mine car on the boundary of the working area.
Further, the automatic parking method of the unmanned mine car further comprises the following steps:
and step S104, marking the corrected position to generate a position mark.
In the embodiment of the invention, the generated corrected position is marked on the navigation map, and the position mark is generated, wherein the size of the position mark is larger than the plane size of the current mine car.
And S105, performing route planning according to the position mark and the driving position to generate a parking route, and controlling the current mine car to automatically park according to the parking route.
In the embodiment of the invention, the route planning of automatic parking is carried out between the driving position and the position mark, the parking route of the current mine car is generated, and the automatic driving parking control is carried out on the current mine car, so that the current mine car drives into the position mark according to the parking route, and the parking of the current mine car is finished.
It will be appreciated that the current car which has completed the auto park is parked stably at the location marker, at which time the current car can be loaded or unloaded with minerals at the work area.
Specifically, fig. 7 shows a flowchart of automatic parking planning control in the method according to the embodiment of the present invention.
In a preferred embodiment of the present invention, the performing route planning according to the position mark and the driving position to generate a parking route, and controlling the current car to automatically park according to the parking route specifically includes the following steps:
and step S1051, carrying out route planning according to the position mark and the driving position, and generating a parking route.
In the embodiment of the invention, the automatic parking route planning is carried out on the current mine car according to the position mark and the driving position, and the parking route of the current mine car is generated.
And step S1052, acquiring the environmental data around the current mine car.
In the embodiment of the invention, the surrounding environment of the current mine car is monitored in real time, and the surrounding environment data of the current mine car is obtained.
And S1053, controlling the current mine car to automatically park according to the parking route based on the environment data.
In the embodiment of the invention, the current mine car is controlled to automatically park according to the parking route, and the automatic parking running of the current mine car is adjusted according to the environmental data, so that obstacles on the parking route and other passing working mine cars are bypassed.
Further, fig. 8 is a diagram illustrating an application architecture of the system according to the embodiment of the present invention.
In still another preferred embodiment of the present invention, an automatic parking device for an unmanned mining vehicle includes:
the pre-parking space judging system 101 is configured to obtain a running position of a current tramcar in real time, and judge whether the current tramcar is in a pre-parking space according to the running position.
In the embodiment of the invention, when the current mine car is unmanned to transport minerals, the pre-parking space judgment system 101 positions the current mine car, acquires the running position of the current mine car in real time, and judges whether the current mine car enters the pre-parking space.
Specifically, fig. 9 shows a block diagram of a pre-parking space determination system 101 in the system according to the embodiment of the present invention.
In a preferred embodiment of the present invention, the pre-parking space determining system 101 specifically includes:
and an area boundary marking unit 1011, configured to acquire a working area, mark the working area, and generate an area boundary mark.
In the embodiment of the invention, the area boundary marking unit 1011 acquires a working area for mineral feeding or mineral discharging, and marks the working area on the navigation map of the current mine car to generate the area boundary mark.
A pre-parking space generation unit 1012 for generating a pre-parking space according to the region boundary markers.
In the embodiment of the present invention, the preliminary parking space generation unit 1012 generates the preliminary parking space for the current car by comprehensively analyzing the area boundary markers of the work area and the running route of the current car.
And a driving position acquiring unit 1013 for acquiring the current driving position of the mine car in real time.
In the embodiment of the present invention, the driving position acquiring unit 1013 positions the current mine car and acquires the driving position of the current mine car in real time.
And the mine car position judging unit 1014 is used for judging whether the current mine car is in the pre-parking space according to the running position.
In the embodiment of the present invention, the tramcar position determination unit 1014 analyzes whether the running position is in the pre-parking space or not according to the running position of the current tramcar, and determines whether the current tramcar is in the pre-parking space or not.
Further, the automatic parking device for the unmanned mine car further comprises:
and the parking position data acquisition system 102 is configured to, when the current tramcar is in the pre-parking space, perform communication connection with a front tramcar in the pre-parking space, and acquire parking position data of the front tramcar.
In the embodiment of the invention, after whether the current mine car enters the pre-parking space or not, the current mine car is in communication connection with the front mine car in the pre-parking space, and the parking position data sent by the front mine car to the current mine car is received through the parking position data acquisition system 102.
Specifically, fig. 10 shows a block diagram of the parking position data acquiring system 102 in the system according to the embodiment of the present invention.
In a preferred embodiment of the present invention, the parking position data acquiring system 102 specifically includes:
and a communication connection request unit 1021, configured to generate and send a communication connection request when the current tramcar is in the pre-parking space.
In the embodiment of the invention, after the current mine car enters the pre-parking space, the communication connection request unit 1021 generates a communication connection request and sends the communication connection request to the outside.
A communication connection performing unit 1022, configured to perform a communication connection with the front mine car in the pre-parking space according to the communication connection request.
In the embodiment of the invention, after the front mine car receives the communication connection request, the connection request of the current mine car is agreed, and the current mine car establishes communication connection with the front mine car through the communication connection performing unit 1022.
And a parking position acquisition unit 1023 for acquiring parking position data of the front mine car.
In the embodiment of the present invention, the parking position obtaining unit 1023 receives the parking position data sent by the front tramcar, specifically, the parking position data is the position data of automatic parking of the front tramcar.
Further, the automatic parking device for the unmanned mine car further comprises:
and the parking position correction system 103 is used for selecting a parking position according to the parking position data, correcting the parking position and generating a corrected position.
In the embodiment of the present invention, the parking position correction system 103 selects a parking position on the navigation map based on the received parking position data, and corrects the parking position according to the actual situation to generate a corrected position.
And a corrected position marking system 104 for marking the corrected position to generate a position mark.
In an embodiment of the invention, the corrected location marking system 104 marks the generated corrected location on the navigation map to generate a location mark, wherein the size of the location mark is greater than the plan size of the current mine car.
And the automatic parking control system 105 is configured to perform route planning according to the position mark and the driving position, generate a parking route, and control the current mine car to perform automatic parking according to the parking route.
In the embodiment of the present invention, the automatic parking control system 105 performs automatic parking route planning between the driving position and the position mark, generates a parking route of the current tramcar, and performs automatic driving parking control on the current tramcar, so that the current tramcar drives into the position mark according to the parking route, thereby completing parking of the current tramcar.
In summary, according to the embodiment of the invention, after the current mine car enters the pre-parking space, the parking position of the front mine car which is automatically parked and driven out is obtained, the parking position is corrected to generate the corrected position, the route is planned according to the corrected position, automatic parking is performed according to the planned parking route, the parking position does not need to be reselected and judged every time, and the parking efficiency of the unmanned mine car is improved.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. An automatic parking method of an unmanned mine car is characterized by comprising the following steps:
acquiring the running position of the current mine car in real time, and judging whether the current mine car is in a pre-parking space or not according to the running position;
when the current mine car is in a pre-parking space, performing communication connection with a front mine car in the pre-parking space to obtain parking position data of the front mine car;
selecting a parking position according to the parking position data, and correcting the parking position to generate a corrected position;
marking the corrected position to generate a position mark;
carrying out route planning according to the position mark and the driving position to generate a parking route, and controlling the current mine car to automatically park according to the parking route;
the method comprises the following steps of obtaining the running position of the current mine car in real time, and judging whether the current mine car is in a pre-parking space according to the running position:
acquiring a working area, marking the working area and generating an area boundary mark;
generating a pre-parking space according to the region boundary mark;
acquiring the running position of the current mine car in real time;
and judging whether the current mine car is in a pre-parking space or not according to the running position.
2. The method for automated parking of an unmanned mining vehicle according to claim 1, wherein the step of generating a pre-parking space based on the zone boundary markers comprises the steps of:
acquiring the access route information of the current mine car;
generating cross position data according to the access route information and the area boundary marks;
and generating a pre-parking space according to the cross position data.
3. The method for automatically parking an unmanned mining vehicle according to claim 1, wherein when the current mining vehicle is in the pre-parking space, the method is in communication connection with a front mining vehicle in the pre-parking space, and the step of acquiring parking position data of the front mining vehicle specifically comprises the following steps:
when the current mine car is in the pre-parking space, generating and sending a communication connection request;
performing communication connection with the front mine car in the pre-parking space according to the communication connection request;
and acquiring parking position data of the front mine car.
4. The method for automated parking of unmanned mining vehicles according to claim 3, wherein the communicatively coupling with the front mining vehicle in the pre-parking space according to the communication connection request comprises the following steps:
performing communication connection with a plurality of working mine cars in the pre-parking space according to the communication connection request;
acquiring the working states of a plurality of working mine cars;
according to the working state, screening the front mine car which finishes automatic parking and exits from the parking position;
maintaining a communicative connection with the front position mine car.
5. The method for automated parking of an unmanned mining vehicle according to claim 1, wherein the selecting a parking location based on the parking location data and modifying the parking location to generate a modified location comprises:
selecting a parking position according to the parking position data;
marking the parking position to generate a parking mark;
and correcting according to the parking mark and the area boundary mark to generate a corrected position.
6. The method for automatically parking an unmanned mining vehicle according to claim 1, wherein the step of performing route planning according to the position mark and the driving position to generate a parking route, and the step of controlling the current mining vehicle to automatically park according to the parking route specifically comprises the following steps:
carrying out route planning according to the position mark and the driving position to generate a parking route;
acquiring environmental data around the current mine car;
and controlling the current mine car to automatically park according to the parking route based on the environment data.
7. An automatic parking device for an unmanned mine car is characterized by comprising a pre-parking space judging system, a parking position data acquiring system, a parking position correcting system, a corrected position marking system and an automatic parking control system, wherein:
the pre-parking space judgment system is used for acquiring the running position of the current mine car in real time and judging whether the current mine car is in a pre-parking space or not according to the running position;
the parking position data acquisition system is used for carrying out communication connection with a front mine car in the pre-parking space when the current mine car is in the pre-parking space, and acquiring parking position data of the front mine car;
the parking position correction system is used for selecting a parking position according to the parking position data, correcting the parking position and generating a corrected position;
the corrected position marking system is used for marking the corrected position to generate a position mark;
the automatic parking control system is used for planning a route according to the position mark and the running position, generating a parking route and controlling the current mine car to automatically park according to the parking route;
the pre-parking space judgment system specifically comprises:
the region boundary marking unit is used for acquiring a working region, marking the working region and generating a region boundary mark;
the pre-parking space generation unit is used for generating a pre-parking space according to the region boundary mark;
the running position acquisition unit is used for acquiring the running position of the current mine car in real time;
and the mine car position judging unit is used for judging whether the current mine car is in the pre-parking space or not according to the running position.
8. The automatic parking device for the unmanned mining vehicle according to claim 7, wherein the parking location data acquiring system specifically comprises:
the communication connection request unit is used for generating and sending a communication connection request when the current mine car is in a pre-parking space;
the communication connection performing unit is used for performing communication connection with the front mine car in the pre-parking space according to the communication connection request;
and the parking position acquisition unit is used for acquiring the parking position data of the front tramcar.
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