CN111857014A - Remote control method for mining unmanned dump truck - Google Patents
Remote control method for mining unmanned dump truck Download PDFInfo
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- CN111857014A CN111857014A CN202010781372.8A CN202010781372A CN111857014A CN 111857014 A CN111857014 A CN 111857014A CN 202010781372 A CN202010781372 A CN 202010781372A CN 111857014 A CN111857014 A CN 111857014A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The invention relates to a remote control method for a mining unmanned vehicle dump truck, which belongs to the technical field of mine truck control and comprises a beacon coordinate system, an unmanned aerial vehicle, an unmanned dump truck and a remote control end, wherein the control method comprises the following steps: step 1, establishing a beacon coordinate system, wherein the beacon coordinate system comprises at least one beacon group moving along with the unmanned dump truck; step 2, determining the coordinates of the unmanned aerial vehicle relative to the unmanned dump truck by taking the beacon coordinate system as reference, and transmitting the coordinates to a remote control end; 3, the remote control end tracks and adjusts the position of the unmanned aerial vehicle relative to the unmanned dump truck by means of PID; step 4, shooting state information of the unmanned dump truck by the unmanned aerial vehicle and transmitting the state information to the remote control end; and 5, the remote control end transfers the control signal to the unmanned dump truck through the unmanned aerial vehicle, and controls the unmanned dump truck. The unmanned aerial vehicle tracking system has the characteristics of high signal transmission efficiency, long propagation distance and convenience in unmanned aerial vehicle tracking.
Description
Technical Field
The invention belongs to the technical field of mine car control, and relates to a control method, in particular to a remote control method for a mining unmanned dump truck.
Background
In the near-surface mining industry, the unmanned mining dump truck is very valuable due to the severe environment and high worker injury and death rate. The unmanned self-discharging vehicle mainly comprises two types, wherein one type is that the self-discharging vehicle has the capability of self-deciding and self-driving, and the other type is that the self-discharging vehicle is controlled by a remote control, so that a driver is in a safer and more comfortable environment. The remote control tipper divide into wired remote control and wireless remote control, and wired signal's quality and reliability are higher, but the mobility of vehicle is poor, and the pencil receive and releases the unavoidable card wheel, knot, winding scheduling problem. Wireless technology suffers from large delays and is difficult to achieve in a true application.
Disclosure of Invention
In order to solve the problems, the invention designs the remote control method of the mining unmanned dump truck, and has the characteristics of high signal transmission efficiency, long propagation distance and convenient tracking of the unmanned dump truck.
The specific technical scheme of the invention is as follows:
a remote control method for a mining unmanned vehicle dump truck comprises a beacon coordinate system, an unmanned aerial vehicle, the unmanned dump truck and a remote control end, and the control method comprises the following steps:
and 5, the remote control end transfers the control signal to the unmanned dump truck through the unmanned aerial vehicle, and controls the unmanned dump truck.
And 3, the remote control end tracks and adjusts the position of the unmanned aerial vehicle relative to the unmanned dump truck by means of PID.
In the step 1, the number of the beacons of the beacon group moving along with the unmanned dump truck is more than two, and all the beacons are not on the same straight line.
In the step 2, each beacon on the unmanned dump truck is synchronized with the unmanned dump truck in clock when sending signals, and the beacons are sent simultaneously, the sweep frequency ranges of the sent signals are not intersected, and the unmanned dump truck is provided with receiving antennas, wherein the number of the receiving antennas is the same as that of the beacons on the unmanned dump truck.
And 3, establishing an unmanned aerial vehicle coordinate library at the remote control end, storing a monitoring coordinate range of the unmanned aerial vehicle relative to the unmanned dump truck in the unmanned aerial vehicle coordinate library, comparing the coordinates of the unmanned aerial vehicle relative to the unmanned dump truck obtained in the step 2 with the monitoring coordinate range in the unmanned aerial vehicle coordinate library, and adjusting the position of the unmanned aerial vehicle relative to the unmanned dump truck.
The unmanned dump truck, the unmanned aerial vehicle and the remote control end are connected through 5G signal communication.
Unmanned aerial vehicle is provided with high-accuracy barometer, and is connected with the GPS location.
The number of beacons of the beacon group on the unmanned dump truck is 3.
The invention has the beneficial effects that:
the real-time position of unmanned aerial vehicle is monitored through the beacon group, when the position of unmanned aerial vehicle relative unmanned tipper exceeded reasonable scope, remote control end passed through PID and trails automatic control signal to unmanned aerial vehicle that sends, keeps the reasonable shooting position of unmanned aerial vehicle relative mine car, and remote control end uses unmanned aerial vehicle to send remote control signal to unmanned tipper as the transfer station simultaneously, has strengthened the efficiency that remote control end sent signal to unmanned tipper.
Drawings
FIG. 1 is a block flow diagram of the present invention.
Fig. 2 is a schematic diagram of the cooperation of the unmanned aerial vehicle and the unmanned dump truck.
In the attached drawing, the device comprises a 1 unmanned dump truck, a 2 beacon, a 3 unmanned plane, a 4 camera and a camera.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to specific examples and drawings, but the scope and implementation of the present invention are not limited thereto.
As shown in the attached figure 1 of the specification, the remote control method for the mining unmanned vehicle dump truck comprises a beacon coordinate system, an unmanned aerial vehicle, the unmanned dump truck and a remote control end, and the control method comprises the following steps:
and 5, the remote control end transfers the control signal to the unmanned dump truck through the unmanned aerial vehicle, and controls the unmanned dump truck.
The beacon is established in the mining area where the unmanned dump truck works, the positions of the unmanned dump truck and the unmanned aerial vehicle can be located through a beacon method, and when the unmanned dump truck is close to the beacon in the mining area, the beacon method is used. The beacon group moving along with the unmanned dump truck sends signals to the unmanned dump truck, the coordinates of the unmanned dump truck relative to the unmanned dump truck are determined, the remote control end analyzes the detected coordinates in combination with an unmanned truck coordinate database, and if the unmanned dump truck deviates from the unmanned dump truck, the position of the unmanned dump truck can not be adjusted through PID tracking when the mine truck and the surrounding environment cannot be completely shot. After the visual information of the unmanned dump truck is transmitted to the remote control end, an operator remotely controls the unmanned dump truck according to the actual condition. If the remote control end directly sends a control signal to the unmanned dump truck, the remote control end is inconvenient to receive long-distance signal transmission due to complex mining area environment, low terrain and difficult signal transmission. Unmanned aerial vehicle position is high and do not have around sheltering from, and is high to the transmission and the receiving efficiency of signal to unmanned aerial vehicle carries out the arrangement of remote control end to unmanned tipper signal as the transfer station, and control signal after will arranging sends to unmanned tipper again, because unmanned tipper is higher with unmanned aerial vehicle apart from very close signal transmission efficiency.
And 3, the remote control end tracks and adjusts the position of the unmanned aerial vehicle relative to the unmanned dump truck by means of PID. PID tracks and can realize accurate adjustment to unmanned aerial vehicle's control through proportional-integral-derivative.
In the step 1, the number of the beacons of the beacon group moving along with the unmanned dump truck is more than two, and all the beacons are not on the same straight line.
At least three non-collinear points on the unmanned dump truck are connected with the unmanned aerial vehicle to form a determined space polyhedron, so that the position of the unmanned aerial vehicle relative to the unmanned dump truck is determined.
In the step 2, each beacon on the unmanned dump truck is synchronized with the unmanned dump truck in clock when sending signals, and the beacons are sent simultaneously, the sweep frequency ranges of the sent signals are not intersected, and the unmanned dump truck is provided with receiving antennas, wherein the number of the receiving antennas is the same as that of the beacons on the unmanned dump truck. Each beacon sends a signal in a specific sweep frequency range to be identified by the unmanned aerial vehicle, a plurality of beacons of the unmanned dump truck are sent simultaneously, a sending clock is recorded, the transmission time of each beacon sending signal is determined according to the receiving clock of the unmanned aerial vehicle receiving signal, and the actual distance between each beacon and the unmanned aerial vehicle on the unmanned dump truck can be calculated according to the frequency of each beacon, so that the specific shape of a space polyhedron is determined, and the actual position relation between the unmanned dump truck and the unmanned aerial vehicle is obtained.
The number of beacons of the beacon group on the unmanned dump truck is 3.
Three beacons in one plane may enable the establishment of a coordinate system, origin, x-axis and y-axis.
And 3, establishing an unmanned aerial vehicle coordinate library at the remote control end, storing a monitoring coordinate range of the unmanned aerial vehicle relative to the unmanned dump truck in the unmanned aerial vehicle coordinate library, comparing the coordinates of the unmanned aerial vehicle relative to the unmanned dump truck obtained in the step 2 with the monitoring coordinate range in the unmanned aerial vehicle coordinate library, and adjusting the position of the unmanned aerial vehicle relative to the unmanned dump truck.
The monitoring coordinate range stored in the unmanned coordinate library can ensure that the unmanned aerial vehicle can completely monitor the state and the surrounding environment of the unmanned dump truck while the signal transmission efficiency of the unmanned dump truck is high.
The unmanned dump truck, the unmanned aerial vehicle and the remote control end are connected through 5G signal communication. The channel delay (air latency) of 5G communication is around 8 ms, which is lower than the delay for image change on a general display.
The timeliness of video information transmission can be effectively guaranteed, and accurate control is realized.
Unmanned aerial vehicle is provided with high-accuracy barometer, and is connected with the GPS location. When unmanned tipper and unmanned aerial vehicle moving distance are big, through GPS location unmanned aerial vehicle's plane distance, high accuracy barometer can fix a position unmanned aerial vehicle's vertical height simultaneously to obtain the actual position of unmanned aerial vehicle in three-dimensional space.
Claims (8)
1. A remote control method for a mining unmanned vehicle dump truck comprises a beacon coordinate system, an unmanned aerial vehicle, the unmanned dump truck and a remote control end, and is characterized in that the control method comprises the following steps:
step 1, establishing a beacon coordinate system, wherein the beacon coordinate system comprises at least one beacon group moving along with the unmanned dump truck;
step 2, determining the coordinates of the unmanned aerial vehicle relative to the unmanned dump truck by taking the beacon coordinate system as reference, and transmitting the coordinates to a remote control end;
step 3, adjusting the position of the unmanned aerial vehicle relative to the unmanned dump truck;
step 4, shooting state information of the unmanned dump truck by the unmanned aerial vehicle and transmitting the state information to the remote control end;
and 5, the remote control end transfers the control signal to the unmanned dump truck through the unmanned aerial vehicle, and controls the unmanned dump truck.
2. The mining unmanned self-dumping vehicle remote control method according to claim 1,
and 3, the remote control end tracks and adjusts the position of the unmanned aerial vehicle relative to the unmanned dump truck by means of PID.
3. The remote control method for the mining unmanned dump truck according to claim 1, characterized in that:
in the step 1, the number of the beacons of the beacon group moving along with the unmanned dump truck is more than two, and all the beacons are not on the same straight line.
4. The mining unmanned self-dumping vehicle remote control method according to claim 3,
in the step 2, each beacon on the unmanned dump truck is synchronized with the unmanned dump truck in clock when sending signals, and the beacons are sent simultaneously, the sweep frequency ranges of the sent signals are not intersected, and the unmanned dump truck is provided with receiving antennas, wherein the number of the receiving antennas is the same as that of the beacons on the unmanned dump truck.
5. The mining unmanned self-dumping vehicle remote control method according to claim 2,
and 3, establishing an unmanned aerial vehicle coordinate library at the remote control end, storing a monitoring coordinate range of the unmanned aerial vehicle relative to the unmanned dump truck in the unmanned aerial vehicle coordinate library, comparing the coordinates of the unmanned aerial vehicle relative to the unmanned dump truck obtained in the step 2 with the monitoring coordinate range in the unmanned aerial vehicle coordinate library, and adjusting the position of the unmanned aerial vehicle relative to the unmanned dump truck.
6. The remote control method for the mining unmanned self-discharging vehicle as claimed in claim 1, wherein the unmanned self-discharging vehicle, the unmanned aerial vehicle and the remote control terminal are connected through 5G signal communication.
7. The mining unmanned self-dumping vehicle remote control method according to claim 1,
unmanned aerial vehicle is provided with high-accuracy barometer, and is connected with the GPS location.
8. The mining unmanned self-dumping truck remote control method according to claim 3, wherein the number of beacons in the beacon group on the unmanned self-dumping truck is 3.
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