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Gold Science and Technology ›› 2022, Vol. 30 ›› Issue (3): 460-469.doi: 10.11872/j.issn.1005-2518.2022.03.006

• Mining Technology and Mine Management • Previous Articles    

Research on Speed Planning of Unmanned Driving Mining Trucks in Open-pit Mines

Pengfei WANG(),Lin BI,Liguan WANG()   

  1. School of Resources and Safety Engineering，Center South University，Changsha 410083，Hunan，China
  • Received:2021-12-21 Revised:2022-03-11 Online:2022-06-30 Published:2022-09-14
  • Contact: Liguan WANG E-mail:13849419393@163.com;liguan_wang@163.com

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Abstract:

At present，driverless mining truck is gradually applied in the production of open-pit mine，however，the road structure of open-pit mine is complex，and the mining truck is prone to collision in driving due to the conflicting driving trajectories and perception limitations，and the existing sensor-based perception obstacle avoidance methods are prone to decisions such as emergency braking and emergency stopping and decelerating and stopping before starting，which not only cause tire wear and fuel waste，but also seriously affect the passing efficiency.In order to solve the above problems，based on the prominent features of the open-pit mine passage scene such as single traffic background，planning，organization and closure，and the advantage that driverless mine cards can accurately execute the planning speed，a mining card full passage speed optimization and collaborative planning method based on time distance constraint dissipation workshop conflict and planning speed based on adaptive trapezoidal speed planning method was proposed.The method first abstractly models the road network scenario based on road information and specifies the corresponding maximum speed limit according to the actual situation of different road sections.The second step is to combine the information of the traveling mine cards in the road network to detect the conflict between mine cards at each node in the target mine card traveling path.The third step is to add time distance constraint to each node to dissipate the conflict between mining cards according to the type of conflict between mining cards，and finally to use adaptive trapezoidal speed planning method to generate the whole collaborative passing speed scheme for the target mining card.The experiments use the traditional stop-and-go obstacle avoidance algorithm as a comparison，and the results show that the method can dissipate the conflicts between mining cards and maintain the safe distance between the front and rear vehicles without affecting the normal passage of other moving mining cards，and improve the smoothness of the speed of the target mining card in driving，while reducing the passage time by 21% compared with the traditional stop-and-go obstacle avoidance algorithm.

Key words: open-pit mine, unmanned driving, mining truck, speed optimization, planning coordination, trapezoidal speed planning

CLC Number: 

  • TD176

Fig.1

Flow of speed collaborative planning method"

Fig.2

Road network model of open-pit transportation system"

Fig.3

Schematic of road section division"

Fig.4

Schematic of the types of intersection vehicle confilict"

Fig.5

Schematic of the principle of intersection vehicle conflict elimination"

Fig.6

Schematic of the principle of vehicle rear-end conflict elimination"

Fig.7

Schematic of the principle of single-section trapezoidal speed planning"

Fig.8

Schematic of the relationship between time distance constraint and passing speed curve"

Fig.9

Schematic of adaptive trapezoidal speed planning results"

Fig.10

Schematic of experimental road scene"

Table 1

Simulation road scene parameters"

道路ID路段划分数量路段长度/m路段限速 /（km·h-1）道路总长 /m
L6_J63100、100、10020、30、25300
J6_J43125、150、12530、40、30400
J4_J22300、5035、30350
J2_J13175、75、10035、20、25350
J1_D14200、100、100、10035、20、15、25500

Table 2

Related parameters of simulated trucks"

矿卡出发时刻/s加速度/（m·s-2）减速度/（m·s-2）行驶方向行驶路径
Ta00.50.5采装点—卸载点L6、J6、J4、J2、J1、D1
Tb-120.41.2采装点—卸载点L7、J6、J4、J2、J1、D1
Tc-130.30.5采装点—卸载点L8、J4、J2、J1、D1
Td-20.50.3采装点—卸载点L4、J5、J3、J2、J1、D1
Tm-80.40.5采装点—卸载点L4、J5、J3、J7、J1、D1
TE-30.150.8卸载点—采装点D1、J1、J2、J3、J5、L4
TF-610.40.5卸载点—采装点D1、J1、J2、J4、L8
TZ-700.50.5卸载点—采装点D2、J7、J1、J2、J4、L8
TG1000.50.5卸载点—采装点D2、J7、J1、J2、J4、L8
TH400.150.8卸载点—采装点D1、J1、J2、J3、J5、L4

Fig.11

Schematic of traffic speed planning results"

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