CN103217978A - Control method for implementing coordinated operation of multiple vehicle groups of hydraulic heavy duty truck - Google Patents
Control method for implementing coordinated operation of multiple vehicle groups of hydraulic heavy duty truck Download PDFInfo
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Abstract
The invention relates to a control method for implementing coordinated operation of multiple vehicle groups of a hydraulic heavy duty truck, which can be used for implementing unmanned automatic driving of a roadway trackless wheel-type hydraulic heavy duty truck. Positions between vehicle bodies and a roadway are determined by applying an ultrasonic distance measurement principle; various information of the truck, which is measured by ultrasonic distance measurement sensors, is transmitted to a central processor; information of the truck relative to the roadway, such as a vehicle body speed, a steering angle, a traveling track and a path, is calculated by the processor according to a set program; the position information is uploaded to a CAN (Controller Area Network) bus system for being called by a next truck; a next truck processor downloads posture information of a previous truck from a CAN bus; according to the posture information of the previous truck, the processor operates geometrical parameters required for tracking the movement track of the previous truck according to a control program so as to determine the movement track of the next truck and fulfill the aim that the next trunk automatically tracks the previous truck, thereby implementing steering control of the split heavy duty transportation truck.
Description
Technical field
The invention belongs to the observation and control technology field, relate to a kind of control method that realizes many cars of hydraulic pressure bogie group coordinative operation, it can realize the unmanned automatic driving of tunnel trackless wheel type hydraulic bogie.
Background technology
In mining, heavy digging, support apparatus often need shift workplace by the transportation of hydraulic pressure bogie under the mine.Because the landform in tunnel is complicated, the space is narrow and small, and the control to the hydraulic pressure bogie in the process of transportation equipment is difficult.Existing underworkings hydraulic pressure bogie is by pilot steering, and in the process of actual motion, the special environment of underworkings very easily exerts an influence to the driver.Because the underworkings space is narrow and small, driver's spirit must keep long-time high concentration, if control improper scratch and the collision that bogie and wall or hydraulic prop equipment just may take place, even serious accident such as cause that the tunnel subsides.Therefore, existing underworkings hydraulic pressure bogie is driven personnel is required height, has a big risk, and is difficult to the safety in production under the specific condition of assurance down-hole.
Summary of the invention
The objective of the invention is for addressing the above problem, a kind of control method that realizes many cars of hydraulic pressure bogie group coordinative operation is provided, can realize the unmanned automatic driving of tunnel many cars of trackless wheel type hydraulic bogie group based on this control method.
The present invention has adopted following technical scheme from solving practical problems:
(1) hardware system comprises ultrasonic ranging system, CAN field bus system, central processing unit, man-machine interactive system and executive system;
(2) using ultrasound ripple range measurement principle, use the ultrasonic ranging sensor to gather the range information of car body and wall in real time, thereby the relative position relation between car body and the wall is determined the sensor of ultrasonic ranging has simultaneously adopted explosion-proof processing, has adapted to the particular surroundings of down-hole;
(3) information measured by the ultrasonic ranging sensor of front truck, send central processing unit to, central processing unit is according to calculate the information of car with respect to the body speed of vehicle in tunnel, steering angle, run trace, path with the program that configures, and this positional information is uploaded to the CAN bus system, call for the back car;
(4) each car has separate processor in the motor train unit, back car processor is downloaded the attitude information of front truck from the CAN bus, attitude information according to front truck, processor comes computing to follow the tracks of the required geometric parameter of front truck movement locus according to control program, and then the movement locus of definite this car, reach the purpose of back car, and the distance of two cars keeps certain in the process of tracking motion from the motion tracking front truck;
(5) each car joins end to end and constitutes a cascade system in the motor train unit, the motion of front truck can be by back car Real time identification, back car is controlled the motion of this car according to the front truck attitude information, then the attitude information of car is uploaded to bus system again, thereby make next car that the reference information of motion be arranged, realize the co-ordination of many cars group;
(6) processor of each car in the motor train unit, on the basis of following the tracks of the front truck movement locus, gather the car body of this car ultrasonic ranging sensor measurement and the range information between the wall in real time, all comprise the PLC control system in the motor train unit in the hydraulic system of each car, the independent attitude of controlling Hydraulic Elements such as each valve, pump, motor, adjustment car by each car PLC controller guarantees that the back car does not scratch, collides with wall, and realizes the automatic deviation correction of car;
(7) in order to realize the coordinative operation of each car of motor train unit between keeping straight on, turning to, software systems adopt modular design, be that master routine can be divided into some, each program block has different functions, and there is more extender piece in the routine library, by the combination of distinct program piece, can make motor train unit finish different actions, thereby enlarge the working range of motor train unit;
(8) the present invention can adopt single driving or manual remote control power source car, and follow-up load-carrying hydraulic pressure car also can adopt full-automatic unmanned driving's mode from the operating type of motion tracking front truck track, has avoided the potential safety hazard of bringing because of artificial driver behavior error.
Described central processing unit is ordinary electronic computing machine or industrial computer.
Described executive system is made up of each Hydraulic Elements of hydraulic pressure bogie, and the PLC controller of each car can be controlled each Hydraulic Elements and carry out corresponding actions.
Ultrasonic ranging system is made up of ultrasonic sensor, temperature compensator, A/D converter, can implement to measure to car body and wall distance, and information is converted into electric signal; Ultrasonic sensor is made up of transmitter, receiver, and transmitter sends ultrasound wave, is received by receiver through wall bounce-back back, calculates distance between car and the wall according to the mistiming of emission and reception.The aerial velocity of propagation of ultrasound wave is known u, measures ultrasound wave and runs into the mistiming t that barrier reflects this process from being transmitted into.The mistiming that records and the velocity of sound multiply each other just can obtain the distance of passing by in the ultrasound wave two-way process, and range finding is half of sonic transmissions distance from S:
Receiver is by being converted into electric signal with ultrasonic signal, and A/D converter is converted into digital signal with electric signal.The signal of ultrasonic sensor output is transferred to central processing unit through the CAN fieldbus, central processing unit is judged the pose of car according to the data of each sensor acquisition, and send control signal according to judging, control signal is transferred to each PLC controller by the CAN fieldbus, the controlled signal of PLC, output response signal, finally be transferred to each valve of hydraulic pressure bogie, pump, the electrical control gear of Hydraulic Elements such as motor, thereby the control Hydraulic Elements are carried out corresponding actions, and then the motion of control car, realize that finally each workshop coordination of motor train unit turns to, the purpose of keeping straight on.
According to GB50419-2007 " coal mine roadway section and intersection design specifications " 3.1.2 bar regulation, the drift section shape can be divided into rectangle, trapezoidal, arch, the shape of a hoof and circle etc.; According to this design specifications 4.1.3 bar regulation, the net section of haulage drift, should be by the size design of transportation equipment that moves in the tunnel and the maximum package that need transport, and should check by maximum package size of transporting once in a while and draught capacity.Because the width of main equipment is suitable in the width of hydraulic pressure bogie and the mine, therefore can operation in meeting the mine laneway of gb specification at the hydraulic pressure bogie.According to this design specifications 4.3.2 bar regulation, the safety clearance minimum value of the supporting of trackless transportation equipment and tunnel lateral wall, pipeline, facility is 600mm, and the sensing range of ultrasonic ranging system has comprised 600mm.Simultaneously, this design specifications 4.1.1 bar regulation is mainly transported lane and main air way, trackless drift must not be lower than 2m, exploiting field preparatory workings and large and medium-sized mine coal-cutting headentry, return airway, medium-thick seam, thick seam must not be lower than 2m, and thin seam must not be lower than 1.8m.Because it is less that described hardware control system is formed volume, the height of hydraulic pressure bogie there is not influence.In sum, used the trackless wheel type hydraulic load-carrying motor train unit of described motor train unit coordinative operation control system and can in underworkings, well implement the coordinative operation that turns to, keeps straight in each workshop, and can realize remote driving or unmanned automatic driving.
Because ultrasonic ranging belongs to contactless distance measurement technique, so good operability is arranged in underworkings, can take technology such as temperature compensation to come the ultrasonic ranging signal is handled, guarantee its stability and accuracy; Motor train unit has adopted the CAN field bus technique, and the attitude information of each car can be via the unimpeded real-time Transmission of bus system; Form at the motor train unit coordinative operation, each workshop of motor train unit polyphone and control model have independently been designed, make motor train unit become a controlled organic whole, each car has certain independence again simultaneously, is convenient to the coordination control of motor train unit and the correction of bicycle; The software of control thought realizes having adopted modular program design, and disparate modules is realized function corresponding, and the combination of disparate modules just can realize multiple function, has widened the range of application of this control strategy; The control method of controller can adopt methods such as fuzzy control, adaptive control, control, ANN (Artificial Neural Network) Control.
Advantage of the present invention is: use the coordination craspedodrome that described motor train unit coordinative operation control strategy can be realized trackless wheel type hydraulic bogie group in the underworkings, operation such as turn to, and widenable to manual remote control driving or unmanned automatic driving, this control strategy personnel in the tunnel of well having solved can not accurately not control the problem of hydraulic transporter, the security risk of having avoided the operation of manually-operated hydraulic pressure bogie to bring, can finish many cars group bicycle and follow the operation of front truck, well solved the driving problem of hydraulic pressure bogie in the underworkings, make many cars group coordinate to turn to become possibility, improved down-hole mining, the efficient of heavy equipmentes such as supporting transportation, the reliability when having increased transportation greatly.
Description of drawings
Fig. 1 is a ultrasonic ranging sensor instrument distance schematic diagram;
Fig. 2 is a Bicycle body ultrasonic ranging sensor distribution schematic diagram;
Fig. 3 is the walking synoptic diagram of bicycle using ultrasound ripple range measurement system;
Fig. 4 is for using many cars group coordinative operation synoptic diagram of described control strategy;
Fig. 5 is Unmanned Systems's entire block diagram;
Fig. 6 is a bicycle control strategy process flow diagram;
Attitude information transmits synoptic diagram between Fig. 7 bicycle.
Among the figure: 1-transmitter, 2-receiver, 3-wall, 4-ultrasonic emitting line, 5-ultrasonic reflections line, 6-car body, 7-direct of travel.
Embodiment
1. ultrasonic ranging system
As shown in Figure 1, the ultrasonic ranging sensor is by 1 transmitter, and 2 receivers are formed, and transmitter 1 sends ultrasonic emitting line 4, when the ultrasound wave ray touches wall 3, can rebound, and receiver 2 is used to receive the ultrasound wave ray of bounce-back.Detection is two-way time from the ultrasound wave that ultrasonic transmitter sends through the time that propagates into receiver of gas medium.The velocity of sound in two-way time and the gas medium multiplies each other, and is exactly the distance of sonic transmissions, and range finding is from being half of sonic transmissions distance.This distance-finding method is contactless range finding, and is highly sensitive, can gather range information in real time, for the relative position of car body is provided by the real-time reliable information that provides.Because ultrasound wave propagates in air, speed is different under the different temperatures, and the signal of can the serviceability temperature compensation method adjusting the distance is handled, thereby obtains accurate more range information.
Fig. 2 is a Bicycle body ultrasonic ranging sensor distribution schematic diagram.Car load has used 8 ultrasonic ranging sensors, in order to adapt to the requirement of control, these distance measuring sensors are divided into former and later two directions, F, FL, three sensors of FR are respectively preceding, left front, right front, B, BL, three sensors of BR are respectively back, left back, right back, and L, R two sensors are left and right.Eight ultrasonic ranging sensors are distributed in around the vehicle body, and it is the center that approximate measure goes out with the car body, the range information of car body Edge Distance wall in 360 ° of scopes of vehicular platform level.
2. motor train unit coordinative operation control strategy
Fig. 3 is the walking synoptic diagram of bicycle using ultrasound ripple range measurement system.Under the craspedodrome state, the distance value of 6 pairs of walls 3 of 8 ultrasonic ranging sensor acquisition car bodies by control, makes car body all the time along the walking of tunnel center line, and by constantly adjusting the car body attitude, keeps car body all the time along center line movement.7 is the body movement direction, indicates before and after 8 ultrasonic sensors by direction of motion 7 to determine that the sensor instrument distance direction is a front sensors along the body movement direction, otherwise is rear sensor.
The present invention earlier to on-the-spot field survey, corrects distance measurement value with the portable ultrasonic Wave ranging device before reality is used.During real work, each sensor all is provided with a threshold values according to on-the-spot real work situation, and this value is for judging the reference frame of car body and wall relative position.
Fig. 6 is a bicycle control strategy process flow diagram.After the direction of motion of having determined car, the front and back of sensor just indicate have been determined.That SF, SFL, SFR, SL, SR are respectively is preceding, left front, right front, the distance value of a left side and right part sensor measurement.Be first bus with the bicycle and be example for driving automatically.As figure, judge at first whether the front portion has wall, if measured value SF, shows then that the front portion has wall to stop less than this sensor threshold values, enter the pattern that turns to this moment; When less than the time judge the absolute difference of left front distance and right front distance once more | SFL-SFR|, when this is worth greater than threshold values, expression car body front and rear part is near excessively apart from wall, and judge the positive negativity of the nearly SFL-SFR of which lateral extent of car front distance this moment once more, and then the employing center is rotated and adjusted attitude; When this is worth less than threshold values, expression car body front and rear part also has certain distance apart from wall, about judging this moment apart from absolute difference | SL-SR|, if this value, shows that car body and wall are approaching parallel greater than the respective thresholds of setting, but too near a sidewall, adopt parallel moving to adjust attitude this moment, if this value shows car body near center line less than the respective thresholds of setting, keep this moment car body to keep straight on.
Can promote other situation by above-mentioned situation.This control strategy can be applied to other each car of non-first bus through corresponding adjustment.After the range information of front truck is measured through ultrasonic ranging system, become the posture information of this car by the bicycle processor processing, this information uploading is to bus, back car is after downloading the real-time attitude information of front truck from bus, back car processor will be according to setting program, making this car follow the front truck run trace automatically travels, and the distance that requires two workshops in the process of travelling keeps certain, then just need the motion conditions of this car of bicycle independent regulation this moment, to play the effect of correction to the back car after then improving as the control strategy process of Fig. 5, make the back car can keep certain spacing that the tracking of front truck is travelled all the time, and can not scratch because of deviation, the situation of bump wall.And improve through corresponding, this control strategy can adapt to single driving, manual remote control is driven and unpiloted situation.Can well judge the relative position of car body and wall according to this control strategy.Because the special construction of hydraulic pressure bogie, it can realize that the center, original place turns to, the Eight characters turns to, the parallel special motion such as move to right that moves to left, so can utilize good handling of hydraulic pressure bogie that it is carried out motion control, move thereby car body is remained on the center line of tunnel, and turn to flexibly.
Fig. 4 is for using many cars group coordinative operation synoptic diagram of described control strategy.Showed respectively among the figure and coordinated to keep straight on and coordinate to turn to two kinds of situations.The present invention can be applicable to many car series connection coordinative operations.As shown in Figure 4, connection between two cars can be that hinge connects, also can be to be flexible coupling, promptly only connect by steel wire or soft mechanism, because the distance between each car is by the controller control of bicycle, therefore the present invention is not high to the connection request between two cars, and the coordinated movement of various economic factors between bicycle is controlled according to program setting by controller.Communication between the bicycle is finished by the CAN fieldbus, and like this, many cars group just is integrated as a whole, according to system debug, just can realize many cars work compound.Open Interface design has been used in described invention, needs according to operation, can increase and decrease the bicycle number of car group, and the information of whole car group can be observed and be adjusted, and can monitor the duty of whole car group in real time by a master controller (industrial computer or ordinary PC).
Fig. 5 is Unmanned Systems's entire block diagram.Hardware system of the present invention is divided into: ultrasonic ranging system, CAN field bus system, central processing unit, man-machine interactive system, action executive system etc.The range information of car body and wall is gathered in real time by ultrasonic ranging system, the real time data of measuring is by the controller of bicycle, calculate and be converted into digital attitude signal after be uploaded to the CAN bus system, central processing unit is responsible for monitoring the whole system operation state, the exchanging window of the control program of whole car group is also on central processing unit simultaneously, human-computer interaction interface is the intercommunion platform for motor train unit coordination operating system and engineering staff, this system has used visual programming software, the engineering staff can add or modification corresponding program module according to on-site actual situations, thereby has increased the adaptive faculty of this described motor train unit coordination operating system.
Fig. 7 is that information is transmitted synoptic diagram between bicycle.This invents described control strategy, and core concept is that the attitude information of front truck can obtain in real time, and then car is obtaining can to adjust the topworks of this car in real time behind the real-time attitude information of front truck, thereby reaches the purpose of track following, coordinative operation.
The present invention's invention can realize many cars group coordinated operation of down-hole trackless wheel type hydraulic bogie, uses this invention can well be implemented the hydraulic pressure bogie under mines such as colliery hauling operation.This invention can be driven strategy by the man-machine interactive system adjustment automatically according to on-the-spot real work situation, thereby has increased the scope of application of this invention.Open design can be with many cars group series connection for whole, realize the work compound of many cars group according to the program of system itself, so this invention has good practical value.And described control strategy can be according to actual condition, after changing system program, be applied to common hydraulic flat Che Duoche group work compound, can also realize that ordinary flat Che Duoche group has that the people drives, manual remote control is driven and even unmanned, thereby improve usage ratio of equipment.Therefore, this invention has very wide application prospect at industrial circle.
Claims (5)
1. control method that realizes many cars of hydraulic pressure bogie group coordinative operation is characterized in that:
(1) hardware system comprises ultrasonic ranging system, CAN field bus system, central processing unit, man-machine interactive system and executive system;
(2) use the ultrasonic ranging sensor to gather the range information of car body and wall in real time, thereby the relative position relation between car body and the wall is determined;
(3) information measured by the ultrasonic ranging sensor of front truck, send central processing unit to, central processing unit is according to calculate the information of car with respect to the body speed of vehicle in tunnel, steering angle, run trace, path with the program that configures, and this positional information is uploaded to the CAN bus system, call for the back car;
(4) each car has separate processor in the motor train unit, back car processor is downloaded the attitude information of front truck from the CAN bus, attitude information according to front truck, processor comes computing to follow the tracks of the required geometric parameter of front truck movement locus according to control program, and then the movement locus of definite this car, reach the purpose of back car, and the distance of two cars keeps certain in the process of tracking motion from the motion tracking front truck;
(5) each car joins end to end and constitutes a cascade system in the motor train unit, the motion of front truck can be by back car Real time identification, back car is controlled the motion of this car according to the front truck attitude information, then the attitude information of car is uploaded to bus system again, thereby make next car that the reference information of motion be arranged, realize the co-ordination of many cars group;
(6) processor of each car in the motor train unit, on the basis of following the tracks of the front truck movement locus, gather the car body of this car ultrasonic ranging sensor measurement and the range information between the wall in real time, all comprise the PLC control system in the motor train unit in the hydraulic system of each car, guarantee that the back car does not scratch, collides with wall, and realize the automatic deviation correction of car by the independent control of the PLC controller in each vehicle hydraulic system, the attitude of adjustment car.
2. the control method of many cars of realization hydraulic pressure bogie group coordinative operation according to claim 1, it is characterized in that: described central processing unit is ordinary electronic computing machine or industrial computer.
3. the control method of many cars of realization hydraulic pressure bogie group coordinative operation according to claim 1, it is characterized in that: described executive system is made up of each Hydraulic Elements of hydraulic pressure bogie.
4. the control method of many cars of realization hydraulic pressure bogie group coordinative operation according to claim 1, it is characterized in that: ultrasonic ranging system is made up of ultrasonic sensor, temperature compensator, A/D converter, car body and wall distance are implemented to measure, and information is converted into electric signal.
5. the control method of many cars of realization hydraulic pressure bogie group coordinative operation according to claim 4, it is characterized in that: ultrasonic sensor is made up of transmitter, receiver, transmitter sends ultrasound wave, receive by receiver through wall bounce-back back, calculate distance between car and the wall according to the mistiming of emission and reception.
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| CN109932726A (en) * | 2019-04-18 | 2019-06-25 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
| CN109932726B (en) * | 2019-04-18 | 2020-08-18 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
| CN110428603A (en) * | 2019-07-26 | 2019-11-08 | 北京主线科技有限公司 | Following Car travel control method and device in container truck formation |
| CN111045404A (en) * | 2019-12-09 | 2020-04-21 | 上海交通大学 | Narrow roadway positioning stacking vehicle, positioning system and positioning method of stacking vehicle |
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| CN113064344B (en) * | 2021-03-19 | 2022-06-07 | 中山大学 | Trajectory tracking control method for multi-axis unmanned heavy-load vehicle |
| CN113204243A (en) * | 2021-07-05 | 2021-08-03 | 北京理工大学 | Remote approach method for reconfigurable autonomous docking process of unmanned vehicle |
| CN113204243B (en) * | 2021-07-05 | 2021-09-14 | 北京理工大学 | Remote approach method for reconfigurable autonomous docking process of unmanned vehicle |
| CN113401175A (en) * | 2021-07-21 | 2021-09-17 | 中国矿业大学 | Advanced detection early warning system and method for monorail crane |
| CN113401175B (en) * | 2021-07-21 | 2022-07-05 | 中国矿业大学 | Advanced detection early warning system and method for monorail crane |
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