CN-121349095-B - Driving control method and system for underground unmanned auxiliary transport vehicle of coal mine

Abstract

The application provides a driving control method and a driving control system for an underground unmanned auxiliary transport vehicle of a coal mine, and belongs to the field of unmanned vehicle control. The method comprises the steps of obtaining real-time gas concentration distribution of a coal mine underground roadway, determining a dynamic forbidden area of the coal mine underground roadway based on the real-time gas concentration distribution, generating a real-time feasible area based on the dynamic forbidden area, generating a target transportation route of a target vehicle according to the real-time feasible area, controlling the target vehicle to travel along the target transportation route according to a reference transportation speed, obtaining front road surface flatness in real time through a vehicle-mounted laser radar of the target vehicle, and adjusting the traveling speed of the target vehicle in real time according to the front road surface flatness, the reference transportation speed, the upper limit constraint of the transportation speed and the lower limit constraint of the transportation speed. Unmanned transport vehicle control is performed according to the dynamic change of the gas concentration and the road surface condition, so that the transport safety and efficiency are improved.

Inventors

• WANG WENSHAN
• YAO YANGPING
• GUO YONGCUN
• WANG SHUANG
• HU KUN
• XU ZHIHUI
• WANG HAO
• LI DEYONG
• YANG DUN

Assignees

• 安徽理工大学

Dates

Publication Date

20260508

Application Date

20251107

Claims (8)

1. 1. The driving control method of the underground unmanned auxiliary transport vehicle for the coal mine is characterized by comprising the following steps of: receiving effective gas concentrations of a plurality of gas detection points, each gas detection point having two gas concentration detectors, comprising: Traversing the plurality of gas detection points, determining a first gas detection point, and acquiring a first gas concentration and a second gas concentration detected by two gas concentration detectors of the first gas detection point; calculating a concentration difference value between the first gas concentration and the second gas concentration, and judging whether the concentration difference value is within a preset error range; when the concentration difference value is within the preset error range, calculating an average value of the first gas concentration and the second gas concentration to be used as an effective gas concentration of the first gas detection point; When the concentration difference exceeds the preset error range, extracting the effective gas concentration of adjacent gas detection points around the first gas detection point, and combining the first gas concentration and the second gas concentration to obtain the effective gas concentration of the first gas detection point, wherein the method comprises the following steps: acquiring the estimated gas concentration of the first gas detection point based on the effective gas concentration of the adjacent gas detection points; respectively calculating a first error value of the first gas concentration and the estimated gas concentration and a second error value of the second gas concentration and the estimated gas concentration; Judging whether the first error value and the second error value are in a preset checking error range or not; when the first error value is within the preset checking error range and the second error value exceeds the preset checking error range, the first gas concentration is used as the effective gas concentration of the first gas detection point; When the second error value is within the preset checking error range and the first error value exceeds the preset checking error range, the second gas concentration is used as the effective gas concentration of the first gas detection point; when the first error value and the second error value are both beyond the preset checking error range, the estimated gas concentration is used as the effective gas concentration of the first gas detection point; acquiring real-time gas concentration distribution of the underground coal mine roadway based on effective gas concentrations of a plurality of gas detection points, determining a dynamic forbidden region of the underground coal mine roadway based on the real-time gas concentration distribution, and generating a real-time feasible region based on the dynamic forbidden region; Generating a target transportation route of a target vehicle according to the real-time feasible region, wherein the target vehicle has a reference transportation speed, an upper transportation speed limit constraint and a lower transportation speed limit constraint; Controlling the target vehicle to run along the target transportation route according to the reference transportation speed, and acquiring the flatness of the road surface in front in real time through a vehicle-mounted laser radar of the target vehicle; The method for adjusting the running speed of the target vehicle in real time according to the front road surface flatness, the reference transportation speed, the transportation speed upper limit constraint and the transportation speed lower limit constraint comprises the following steps: Determining the flatness of a reference road surface based on the reference transportation speed of the target vehicle, and acquiring a transportation speed adjustment coefficient by combining the flatness of the front road surface; obtaining an adjusted transportation speed according to the transportation speed adjustment coefficient and the reference transportation speed; And adjusting the running speed of the target vehicle in real time according to the adjusted transportation speed, the transportation speed upper limit constraint and the transportation speed lower limit constraint.
2. 2. The method of claim 1, wherein obtaining a real-time gas concentration profile for the underground coal mine roadway, determining a dynamic forbidden zone for the underground coal mine roadway based on the gas concentration profile, and generating a real-time feasible zone based on the dynamic forbidden zone, comprises: Receiving effective gas concentration of a plurality of gas detection points, wherein each gas detection point is distributed in the underground coal mine roadway; Generating real-time gas concentration distribution of the underground coal mine roadway based on the effective gas concentrations of the plurality of gas detection points; acquiring a gas concentration safety threshold value, and acquiring a roadway space region of the coal mine underground roadway; according to the real-time gas concentration distribution, determining a region with gas concentration exceeding the gas concentration safety threshold value as a dynamic forbidden region in the roadway space region; and determining the area except the dynamic forbidden area in the roadway space area as the real-time feasible area.
3. 3. The method of claim 1, wherein generating a target transportation route for a target vehicle from the real-time viable area, the target vehicle having a reference transportation speed, an upper transportation speed limit constraint, and a lower transportation speed limit constraint, comprises: acquiring a starting position and an ending position of the target vehicle; Generating a target transportation route based on the starting position and the ending position in the real-time feasible region; determining a reference transport speed of the target transport route according to the vehicle parameters and the transport task requirements of the target vehicle; and acquiring a preset transportation speed upper limit value of the target vehicle as the transportation speed upper limit constraint, and acquiring a preset transportation speed lower limit value of the target vehicle as the transportation speed lower limit constraint.
4. 4. The method of claim 1, wherein acquiring the forward road surface flatness in real time by an on-board lidar of the target vehicle comprises: scanning a road surface within a preset distance range in front of the target vehicle through the vehicle-mounted laser radar to obtain front road surface scanning data; And inputting the front road surface scanning data into a road surface flatness estimator to obtain the front road surface flatness.
5. 5. The method of claim 4, wherein the constructing step of the road surface evenness estimator comprises: acquiring a historic forward road surface scan record, and constructing a sample forward road surface scan dataset based on the historic forward road surface record; marking the road surface evenness of each sample front road surface scanning data in the sample front road surface scanning data set, and obtaining a sample front road surface evenness set; and training and generating the pavement evenness estimator according to the sample front pavement scanning data set and the sample front pavement evenness set.
6. 6. The method of claim 4, wherein adjusting the travel speed of the target vehicle in real time based on the forward road surface flatness, the reference transport speed, the transport speed upper limit constraint, and the transport speed lower limit constraint comprises: Judging whether the adjusted transportation speed is between the transportation speed upper limit constraint and the transportation speed lower limit constraint; when the adjusted transport speed is between the transport speed upper limit constraint and the transport speed lower limit constraint, taking the adjusted transport speed as a running speed of the target vehicle; When the adjusted transport speed exceeds the transport speed upper limit constraint, the transport speed upper limit constraint is taken as the running speed of the target vehicle; And when the adjusted transportation speed is lower than the transportation speed lower limit constraint, the transportation speed lower limit constraint is used as the running speed of the target vehicle.
7. 7. The method according to claim 2, wherein the method further comprises: Taking the dynamic forbidden region determined based on the real-time gas concentration distribution as a first dynamic forbidden region; acquiring a region with dust concentration higher than a preset dust concentration threshold value in the historical transportation process of the underground tunnel of the coal mine, and setting the region as a second dynamic forbidden region; Calculating a union of the first dynamic forbidden region and the second dynamic forbidden region to obtain a comprehensive dynamic forbidden region; and determining the area except the comprehensive dynamic forbidden area in the roadway space area as the real-time feasible area.
8. 8. A travel control system for an unmanned underground coal mine transport vehicle, for carrying out the method of any one of claims 1 to 7, the system comprising: The system comprises a feasible region generation module, a real-time gas concentration distribution generation module and a real-time control module, wherein the feasible region generation module is used for acquiring the real-time gas concentration distribution of the underground coal mine roadway, determining a dynamic forbidden region of the underground coal mine roadway based on the real-time gas concentration distribution, and generating a real-time feasible region based on the dynamic forbidden region; the route planning module is used for generating a target transportation route of a target vehicle according to the real-time feasible region, wherein the target vehicle has a reference transportation speed, an upper transportation speed limit constraint and a lower transportation speed limit constraint; the vehicle control module is used for controlling the target vehicle to run along the target transportation route according to the reference transportation speed and acquiring the flatness of the road surface in front in real time through the vehicle-mounted laser radar of the target vehicle; And the speed adjusting module is used for adjusting the running speed of the target vehicle in real time according to the front road surface flatness, the reference transportation speed, the transportation speed upper limit constraint and the transportation speed lower limit constraint.

Description

Driving control method and system for underground unmanned auxiliary transport vehicle of coal mine Technical Field The invention relates to the field of unmanned vehicle control, in particular to a running control method and system of an underground unmanned auxiliary transport vehicle for a coal mine. Background In modern coal mine production, the automation and intelligent degree of underground transportation are increasingly improved. The unmanned auxiliary transport vehicle is used as important equipment for underground transportation of the coal mine, so that the manual workload can be effectively reduced, and the transportation efficiency can be improved. However, in coal mine production, the gas concentration distribution of a coal mine underground roadway is extremely uneven and dynamically changed along with the changes of factors such as mining progress, ventilation conditions, geological structures and the like, when a transport vehicle runs in a high gas concentration area, high-concentration gas explosion is extremely easily caused by friction between a vehicle tire and the ground, heat and sparks generated by engine operation and work, and on the other hand, the road surface condition of the coal mine underground roadway is complex and changeable, bad road conditions such as accumulated water, pits, broken stones, gradient changes and the like exist, and the running stability and the safety of the vehicle are seriously affected. The existing unmanned transportation vehicle control in the coal mine usually adopts a control mode of presetting a fixed path and a constant speed, and cannot dynamically adjust a running path according to the real-time change of the underground gas concentration and cannot adjust the running speed in real time according to the complex road surface condition. When the vehicle runs along a preset path, the vehicle possibly enters a dangerous area with the exceeding gas concentration, serious potential safety hazards exist, and when the vehicle encounters complex road conditions, the fixed running speed cannot adapt to the road condition change, so that the transportation efficiency is affected, and the problems of vehicle damage or cargo scattering and the like can be caused. Disclosure of Invention Aiming at the technical problems of potential safety hazards and low transportation efficiency of unmanned transportation vehicles in the transportation process caused by uneven gas concentration distribution and complex road surface conditions of underground coal mine roadways in the prior art, the invention provides a running control method and a running control system of unmanned auxiliary transportation vehicles in the underground coal mine. The technical scheme for solving the technical problems is as follows: The invention provides a driving control method of an unmanned auxiliary transportation vehicle under a coal mine, which comprises the steps of obtaining real-time gas concentration distribution of a roadway under the coal mine, determining a dynamic forbidden area of the roadway under the coal mine based on the real-time gas concentration distribution, generating a real-time feasible area based on the dynamic forbidden area, generating a target transportation route of a target vehicle according to the real-time feasible area, controlling the target vehicle to drive along the target transportation route according to the reference transportation speed, and obtaining front road surface flatness in real time through a vehicle-mounted laser radar of the target vehicle, and adjusting the driving speed of the target vehicle in real time according to the front road surface flatness, the reference transportation speed, the transportation speed upper limit constraint and the transportation speed lower limit constraint. The invention provides a driving control system of an unmanned auxiliary transportation vehicle under a coal mine, which comprises a feasible region generation module, a route planning module, a vehicle control module and a speed adjustment module, wherein the feasible region generation module is used for acquiring real-time gas concentration distribution of a roadway under the coal mine, determining a dynamic forbidden region of the roadway under the coal mine based on the real-time gas concentration distribution, generating a real-time feasible region based on the dynamic forbidden region, generating a target transportation route of a target vehicle according to the real-time feasible region, the target vehicle is provided with a reference transportation speed, an upper transportation speed limit constraint and a lower transportation speed limit constraint, the vehicle control module is used for controlling the target vehicle to drive along the target transportation route according to the reference transportation speed, and acquiring front road flatness in real time through a vehicle-mounted laser radar of the target vehicle, and the speed adjustment mod