CN114911238A - Unmanned mine car cooperative control method and system - Google Patents
Unmanned mine car cooperative control method and system Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned driving, and particularly discloses a cooperative control method and system for an unmanned mine car, wherein the method comprises the steps of obtaining size parameters of a mine field, and establishing a mine field model according to size data and a preset scale; generating a numbered transportation task based on the information points, and determining a mine car scheduling list according to the transportation task; sending a work order to each mine car based on the mine car scheduling list; and monitoring the working parameters of all mine cars in the mine field model in real time, generating an adjusting instruction according to the working parameters, and correcting the mine car allowance items in the related mine car scheduling list. According to the mine truck transport task management method, the mine model matched with the mine is established, the transport task is generated based on the mine model, the mine truck sends a simple work instruction to the mine truck according to the transport task, and the mine truck can complete the transport task only by receiving the work instruction, so that the traditional manual control work framework is changed, and the labor cost is greatly reduced.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a cooperative control method and system for an unmanned mine car.
Background
Because the mine car working environment for mining is abominable, and the degree of danger is high, and mining area personnel not only safety risk is high, still need accomplish the basic operation before the mine car gets into unmanned to mining area personnel, has increased the cost of labor expenditure, and at the mine car in-process of actually moving, the safer has a large amount of erroneous operation or blindly intervenes the vehicle operation, and then causes the vehicle frequently to park, influences work efficiency easily and causes the safety problem even. Therefore, the application of unmanned mine cars is brought along.
The control system of the existing unmanned mine car can use a plurality of electromechanical products such as mechanical dogs for reference, but the working process in a mine field needs to be designed by the control system; the existing work flow is mostly controlled by a worker remotely, the core of the existing work flow is also the subjective activity of people, and the labor cost is very high; in fact, some repeated loading and unloading or transportation processes can be completely designed in advance, so that an automatic process is really realized, and the labor cost is greatly reduced. How to plan the existing repeated flow is a technical problem to be solved by the technical scheme of the invention.
Disclosure of Invention
The invention aims to provide a collaborative control method and a collaborative control system for an unmanned mine car, which aim to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for cooperative control of an unmanned mining vehicle, the method comprising:
obtaining size parameters of a mine field, and establishing a mine field model according to size data and a preset scale; the mine field model comprises a loading and unloading area and information points corresponding to the loading and unloading area; the loading and unloading area comprises acquisition points, acquisition equipment is arranged at the position of the mine site corresponding to the acquisition points, and data of the acquisition equipment is input into a data table with the information points as indexes;
generating a numbered transportation task based on the information points, and determining a mine car scheduling list according to the transportation task; the mine car scheduling table comprises mine car number items, mine car allowance items and mine car state items; the values of the mine car state items at least comprise two values and are used for distinguishing a loaded state from an unloaded state;
sending a work order to each mine car based on the mine car scheduling list;
and monitoring the working parameters of all mine cars in the mine field model in real time, generating an adjusting instruction according to the working parameters, and correcting the mine car allowance items in the related mine car scheduling list.
As a further scheme of the invention: the step of acquiring data by the acquisition equipment comprises the following steps:
acquiring a regional image of a mine field, carrying out contour recognition on the regional image, and positioning a mineral region;
identifying a color value of the mineral area;
acquiring the spatial position of acquisition equipment, and determining an image-real scene mapping relation according to the spatial position;
and calculating the mineral quantity according to the color value identification result and the image-real image mapping relation.
As a further scheme of the invention: the step of generating a numbered transportation task based on the information points and determining a mine car scheduling list according to the transportation task comprises the following steps:
sequentially positioning the data tables corresponding to the information points, and reading the mineral amount in the data tables;
classifying each information point according to the amount of minerals;
acquiring position data of a mine exit, sequentially extracting the position data of any information point in various information points, inputting the position data of the mine exit and the position data of any information point into a Dijkstra algorithm model, and calculating the shortest transportation path; deleting corresponding information points from various information points when a transportation path is generated;
and sequentially determining the numbered transportation tasks according to the transportation paths, and determining a mine car scheduling list according to the transportation tasks.
As a further scheme of the invention: the step of determining the numbered transportation tasks according to the transportation paths in sequence and the step of determining the mine car scheduling list according to the transportation tasks comprises the following steps:
calculating the mineral amount corresponding to each information point in the transportation path, and calculating the total mineral amount of the transportation path;
acquiring the load capacity, the single transportation energy consumption and the single transportation time consumption of the idle mine car, calculating the transportation times according to the load capacity and the total mineral quantity, and calculating the total energy consumption and the total time consumption according to the transportation times; wherein the number of the idle mine cars is variable;
counting the transportation times, total energy consumption and total time consumption corresponding to different quantities of idle mine cars to generate a transportation schedule;
opening a parameter acquisition port, acquiring boundary conditions based on the parameter acquisition port, and determining a mine car scheduling list in the transportation calculation list according to the boundary conditions.
As a further scheme of the invention: the method comprises the following steps of monitoring the working parameters of all mine cars in a mine yard model in real time, generating an adjusting instruction according to the working parameters, and correcting the mine car allowance items in a related mine car scheduling list, wherein the steps comprise:
collecting input signals of all nodes in the mine car, and inputting the input signals into a trained prediction model to obtain prediction signals of all nodes; the node is an electronic device having an input signal and an output signal;
acquiring an output signal of each node, and comparing the output signal with the prediction signal to obtain the deviation rate of each node;
inputting the deviation rate of each node and the corresponding node position into a trained risk model to obtain a risk type;
and generating an adjustment instruction according to the risk type, and correcting the mine car allowance items in the related mine car shift list.
As a further scheme of the invention: the steps of generating an adjustment instruction according to the risk type and correcting the mine car residue items in the relevant mine car shift list comprise:
generating a discharging instruction according to the risk type, and recording the discharging amount and the discharging position;
establishing a connecting channel with a mine car shift list to which the mine car belongs, and positioning the unloaded mine car according to the state items of the mine cars;
sending a loading command containing a discharge position to one of the unloaded mine cars, and modifying the remaining amount items of the mine cars; and a mapping relation exists between the residual quantity item of the mine car and the unloading quantity.
As a further scheme of the invention: when the unloading instruction is generated, a connecting channel of a mine car shift table to which the mine car belongs is established, the loaded mine car between the mine car and the unloaded mine car is positioned according to the state item of the mine car, and early warning information containing the unloading amount and the unloading position is sent to the loaded mine car between the mine car and the unloaded mine car.
The technical scheme of the invention also provides a collaborative control system for the unmanned mine car, which comprises the following steps:
the model building module is used for obtaining size parameters of a mine and building a mine model according to the size data and a preset scale; the mine field model comprises a loading and unloading area and information points corresponding to the loading and unloading area; the loading and unloading area comprises acquisition points, acquisition equipment is arranged at the position of the mine site corresponding to the acquisition points, and data of the acquisition equipment is input into a data table with the information points as indexes;
the scheduling list generating module is used for generating a transportation task containing a serial number based on the information points and determining a mine car scheduling list according to the transportation task; the mine car scheduling table comprises mine car number items, mine car allowance items and mine car state items; the values of the mine car state items at least comprise two values and are used for distinguishing a loaded state from an unloaded state;
the instruction sending module is used for sending work instructions to all mine cars based on the mine car scheduling list;
and the instruction adjusting module is used for monitoring the working parameters of all mine cars in the mine field model in real time, generating adjusting instructions according to the working parameters and correcting the mine car allowance items in the related mine car scheduling list.
As a further scheme of the invention: the shift list generation module comprises:
the mineral amount reading unit is used for sequentially positioning the data tables corresponding to the information points and reading the mineral amount in the data tables;
the classification unit is used for classifying each information point according to the amount of minerals;
the route generation unit is used for acquiring position data of the mine exit, sequentially extracting position data of any information point in various information points, inputting the position data of the mine exit and the position data of any information point into a Dijkstra algorithm model, and calculating the shortest transportation route; deleting corresponding information points from various information points when a transportation path is generated;
and the processing execution unit is used for determining the numbered transportation tasks according to the transportation paths in sequence and determining a mine car shift schedule according to the transportation tasks.
As a further scheme of the invention: the process execution unit includes:
the first calculating subunit is used for calculating the mineral quantity corresponding to each information point in the transportation path and calculating the total mineral quantity of the transportation path;
the second calculating subunit is used for acquiring the load capacity, the single transportation energy consumption and the single transportation time consumption of the idle mine car, calculating the transportation times according to the load capacity and the total mineral quantity, and calculating the total energy consumption and the total time consumption according to the transportation times; wherein the number of the idle mine cars is variable;
the statistics subunit is used for counting the transportation times, the total energy consumption and the total time consumption corresponding to different numbers of idle mine cars and generating a transportation schedule;
and the condition determining subunit is used for opening the parameter acquisition port, acquiring boundary conditions based on the parameter acquisition port and determining a mine car scheduling list in the transportation calculation list according to the boundary conditions.
Compared with the prior art, the invention has the beneficial effects that: according to the mine truck transport task management method, the mine model matched with the mine is established, the transport task is generated based on the mine model, the mine truck sends a simple work instruction to the mine truck according to the transport task, and the mine truck can complete the transport task only by receiving the work instruction, so that the traditional manual control work framework is changed, and the labor cost is greatly reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
FIG. 1 is a flow chart diagram of a collaborative control method for an unmanned mining vehicle.
FIG. 2 is a first sub-flow diagram of the collaborative control method for the unmanned mining vehicle.
FIG. 3 is a second sub-flow chart of the collaborative control method for the unmanned mining vehicle.
FIG. 4 is a block diagram of the configuration of the cooperative control system for unmanned mining vehicles.
FIG. 5 is a block diagram of the configuration of the shift schedule generation module of the collaborative control system for unmanned mining vehicles.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in 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.
Example 1
FIG. 1 is a flow chart of a cooperative control method for an unmanned mining vehicle, in an embodiment of the present invention, the cooperative control method for an unmanned mining vehicle includes steps S100 to S400:
step S100: obtaining size parameters of a mine field, and establishing a mine field model according to size data and a preset scale; the mine field model comprises a loading and unloading area and information points corresponding to the loading and unloading area; the loading and unloading area comprises acquisition points, acquisition equipment is arranged at the position of the mine site corresponding to the acquisition points, and data of the acquisition equipment is input into a data table with the information points as indexes;
in the unmanned technology, the unmanned aerial vehicle is often composed of two parts, namely the advancing logic of an unmanned aerial vehicle main body and the matching logic of a plurality of unmanned aerial vehicle main bodies; the logic of advancing of the unmanned sports body is complete, and the existing colleges and universities or enterprises are all dedicated to researching the problems, so that the effect is remarkable, and most notably, the mechanical dog has extremely advanced and continuously advanced software and hardware systems. However, the logic of matching a plurality of unmanned moving bodies is also relevant to the practical application process, so that the unmanned mining vehicle is not provided with a universal method, various working environments and different working states are required to be independently designed, and the unmanned mining vehicle is one of the applications.
Step S100 is to generate a mine field model, a determined scale exists between the mine field model and an actual mine field, and the mine field model can be mapped to the actual mine field in an equal ratio based on the design of the mine field model. In the mine field, the area needing to be loaded corresponds to the loading and unloading area, and the loading and unloading area is provided with a plurality of cameras which correspond to the acquisition equipment; the information point is virtual in the mine model and typically corresponds to the location at which the unmanned mine vehicle is parked.
Step S200: generating a numbered transportation task based on the information points, and determining a mine car scheduling list according to the transportation task; the mine car scheduling list comprises mine car number items, mine car allowance items and mine car state items; the values of the mine car state items at least comprise two values and are used for distinguishing a loaded state from an unloaded state;
the transportation task has a number, which is generally related to the information point, that is, the number of the transportation task is generated according to the parameters of the information point, and the same transportation task often needs a plurality of mine cars to cooperate together, so that a mine car shift list is finally generated in step S200.
Step S300: sending a work order to each mine car based on the mine car scheduling list;
step S400: and monitoring the working parameters of all mine cars in the mine field model in real time, generating an adjusting instruction according to the working parameters, and correcting the mine car allowance items in the related mine car scheduling list.
Step S300 and step S400 are execution steps, after the mine car shift list is determined, some advancing instructions or loading and unloading instructions are sent to corresponding mine cars, and when the mine cars start to execute tasks, the states of the mine cars are monitored in real time, and the mine cars are adjusted, which is the innovation point of the technical scheme of the invention; in fact, the adjustment command is at most the unloading command, in one example of the technical scheme of the invention, once the mine car is unstable in the running process, the mine car is unloaded on site, and when the mine car is followed up, the mine car is loaded and unloaded, which is not related in the existing system and is the original content of the technical scheme of the invention.
Further, the step of acquiring data by the acquisition device comprises:
acquiring a regional image of a mine field, carrying out contour recognition on the regional image, and positioning a mineral region;
performing color value identification on the mineral area;
acquiring the spatial position of acquisition equipment, and determining an image-real scene mapping relation according to the spatial position;
and calculating the mineral amount according to the color value identification result and the image-real scene mapping relation.
The working process of the acquisition equipment is limited, firstly, an area image is acquired, and the process is completed by the image acquisition equipment; then, area positioning and color value identification are carried out on the area image, the two parts are supported by related technologies, and the precision is not required to be too high; finally, the amount of the ore can be deduced according to the size of the ore area in the image.
FIG. 2 is a first sub-flow diagram of the cooperative control method for unmanned mining vehicles, wherein the step of generating a transportation task containing a number based on the information points and determining a mine vehicle shift schedule according to the transportation task comprises steps S201 to S204:
step S201: sequentially positioning a data table corresponding to each information point, and reading the mineral amount in the data table;
step S202: classifying each information point according to the amount of minerals;
step S203: acquiring position data of a mine exit, sequentially extracting the position data of any information point in various information points, inputting the position data of the mine exit and the position data of any information point into a Dijkstra algorithm model, and calculating the shortest transportation path; deleting corresponding information points from various information points when a transportation path is generated;
step S204: and sequentially determining the numbered transportation tasks according to the transportation paths, and determining a mine car scheduling list according to the transportation tasks.
The generation process of the mine car shift list is specifically limited from the step S201 to the step S204, the working process is simple, namely the positions of all the information points are obtained, and a transportation path is generated according to the positions; each information point belongs to only one transport path.
It should be noted that Dijkstra's algorithm was proposed by dickstra, a netherlands computer scientist, in 1959, and is therefore also called dickstra's algorithm. The method is a shortest path algorithm from one vertex to the rest of the vertices, and solves the shortest path problem in the weighted graph. The dijkstra algorithm is mainly characterized in that a greedy algorithm strategy is adopted from a starting point, and adjacent nodes of vertexes which are nearest to the starting point and have not been visited are traversed each time until the nodes are expanded to a terminal point. In the application of the technical scheme of the invention, the end point is the mine exit, the starting point can be any, and generally, an information point farthest from the mine exit is selected as the starting point.
Specifically, the step of determining the numbered transportation tasks according to the transportation paths in sequence and the step of determining the mine car scheduling list according to the transportation tasks comprises the following steps:
calculating the mineral amount corresponding to each information point in the transportation path, and calculating the total mineral amount of the transportation path;
acquiring the load capacity, the single transportation energy consumption and the single transportation time consumption of the idle mine car, calculating the transportation times according to the load capacity and the total mineral quantity, and calculating the total energy consumption and the total time consumption according to the transportation times; wherein the number of the idle mine cars is variable;
counting the transportation times, total energy consumption and total time consumption corresponding to different quantities of idle mine cars to generate a transportation schedule;
opening a parameter acquisition port, acquiring boundary conditions based on the parameter acquisition port, and determining a mine car scheduling list in the transportation calculation list according to the boundary conditions.
The generation process of the mine car shift schedule is specifically limited, wherein the variable is the number of idle mine cars, the selection of the number of mine cars is specifically taught, and the larger the number is, the smaller the total time consumption is, and the certain number means that the number of mine cars cannot be too large, such as tens of thousands of mine cars, which is naturally counterproductive. However, the total energy consumption is larger for the tramcars with larger quantity, so that an optimum quantity interval is provided, and the energy consumption is reduced while the time consumption is met.
It is worth mentioning that the types of mine cars may be different, and therefore, the load capacity of the mine car also needs to be acquired when the parameter acquisition is performed.
FIG. 3 is a second sub-flow diagram of the collaborative control method for unmanned mining vehicles, wherein the step of monitoring the working parameters of each mining vehicle in the mine site model in real time, generating an adjustment command according to the working parameters, and correcting the remaining quantity items of the mining vehicles in the relevant mine vehicle scheduling list comprises steps S401 to S404:
step S401: collecting input signals of all nodes in the mine car, and inputting the input signals into a trained prediction model to obtain prediction signals of all nodes; the node is an electronic device having an input signal and an output signal;
step S402: acquiring an output signal of each node, and comparing the output signal with the prediction signal to obtain the deviation rate of each node;
step S403: inputting the deviation rate of each node and the corresponding node position into a trained risk model to obtain a risk type;
step S404: and generating an adjusting instruction according to the risk type, and correcting the mine car residue items in the related mine car shift list.
The detection process of the mine car is specifically described in steps S401 to S404, the mine car has many electronic devices, most of the electronic devices have input signals and output signals, the electronic devices with the input signals and the output signals are key nodes, once they have problems, the probability of the problem of the mine car is high, the specific judgment process needs to use a prediction model, the prediction model is a mine car model in a standard state, according to the mine car model in the standard state, the input signals can be predicted, what the output signals in an ideal state are predicted, then real output signals are obtained, the real output signals are compared with the predicted output signals, so that a deviation rate can be calculated, and the deviation rate is enough to reflect the state of the mine car.
Further, the step of generating an adjustment instruction according to the risk type and correcting the mine car residue items in the related mine car scheduling list comprises:
generating a discharging instruction according to the risk type, and recording the discharging amount and the discharging position;
establishing a connecting channel with a mine car shift list to which the mine car belongs, and positioning the unloaded mine car according to the state items of the mine cars;
sending a loading command containing a discharge position to one of the unloaded mine cars, and modifying the remaining amount items of the mine cars; and a mapping relation exists between the residual quantity item of the mine car and the unloading quantity.
Specifically, when the unloading instruction is generated, a connection channel with the mine car shift table to which the mine car belongs is established, the loaded mine cars between the mine cars and the unloaded mine cars are positioned according to the mine car state items, and the warning information including the unloading amount and the unloading position is transmitted to the loaded mine cars between the mine cars and the unloaded mine cars.
In one example of the solution of the invention, the adjustment command is defined as a discharge command, when the mine car is discharged, the batch of goods is left on the path and is not transported by the next mine car, since the next mine car is in a fully loaded state and the next mine car needs to be kept away when moving to the load; the empty mine car that actually transports the load is left in place by the remaining amount of the mine car, and the loading is performed when the empty mine car moves to the position of the load.
Example 2
FIG. 4 is a block diagram of the cooperative control system for unmanned mining vehicles, in an embodiment of the present invention, the cooperative control system for unmanned mining vehicles includes:
the model building module 11 is used for obtaining size parameters of a mine and building a mine model according to the size data and a preset scale; the mine field model comprises a loading and unloading area and information points corresponding to the loading and unloading area; the loading and unloading area comprises acquisition points, acquisition equipment is arranged at the position of the mine site corresponding to the acquisition points, and data of the acquisition equipment is input into a data table with the information points as indexes;
the scheduling list generating module 12 is used for generating a transportation task containing a number based on the information points and determining a mine car scheduling list according to the transportation task; the mine car scheduling table comprises mine car number items, mine car allowance items and mine car state items; the values of the mine car state items at least comprise two values and are used for distinguishing a loaded state from an unloaded state;
the instruction sending module 13 is used for sending work instructions to all mine cars based on the mine car scheduling list;
and the instruction adjusting module 14 is used for monitoring the working parameters of all mine cars in the mine field model in real time, generating adjusting instructions according to the working parameters, and correcting the mine car allowance items in the related mine car scheduling list.
FIG. 5 is a block diagram of the configuration of the shift schedule generating module 12 in the collaborative control system for unmanned mining vehicles, wherein the shift schedule generating module 12 comprises:
a mineral amount reading unit 121, configured to sequentially locate data tables corresponding to the information points, and read the mineral amount in the data tables;
a classification unit 122 configured to classify each information point according to the amount of minerals;
the route generation unit 123 is configured to obtain position data of the mine exit, sequentially extract position data of any information point of the various information points, input the position data of the mine exit and the position data of any information point into the dijkstra algorithm model, and calculate a shortest transportation route; deleting corresponding information points from various information points when a transportation path is generated;
and the processing execution unit 124 is used for sequentially determining the numbered transportation tasks according to the transportation paths and determining a mine car scheduling list according to the transportation tasks.
Further, the processing execution unit 124 includes:
the first calculating subunit is used for calculating the mineral quantity corresponding to each information point in the transportation path and calculating the total mineral quantity of the transportation path;
the second calculating subunit is used for acquiring the load capacity, the single transportation energy consumption and the single transportation time consumption of the idle mine car, calculating the transportation times according to the load capacity and the total mineral quantity, and calculating the total energy consumption and the total time consumption according to the transportation times; wherein the number of the idle mine cars is variable;
the statistics subunit is used for counting the transportation times, the total energy consumption and the total time consumption corresponding to different numbers of idle mine cars and generating a transportation schedule;
and the condition determining subunit is used for opening the parameter acquisition port, acquiring boundary conditions based on the parameter acquisition port and determining a mine car scheduling list in the transportation calculation list according to the boundary conditions.
The functions which can be realized by the unmanned mine car cooperative control method are all realized by computer equipment which comprises one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and is loaded and executed by the one or more processors to realize the unmanned mine car cooperative control method.
The processor fetches instructions and analyzes the instructions one by one from the memory, then completes corresponding operations according to the instruction requirements, generates a series of control commands, enables all parts of the computer to automatically, continuously and coordinately act to form an organic whole, realizes the input of programs, the input of data, the operation and the output of results, and the arithmetic operation or the logic operation generated in the process is completed by the arithmetic unit; the Memory comprises a Read-Only Memory (ROM) for storing a computer program, and a protection device is arranged outside the Memory.
Illustratively, a computer program can be partitioned into one or more modules, which are stored in memory and executed by a processor to implement the present invention. One or more of the modules may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program in the terminal device.
Those skilled in the art will appreciate that the above description of the service device is merely exemplary and not limiting of the terminal device, and may include more or less components than those described, or combine certain components, or different components, such as may include input output devices, network access devices, buses, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is the control center of the terminal equipment and connects the various parts of the entire user terminal using various interfaces and lines.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the terminal device by operating or executing the computer programs and/or modules stored in the memory and calling data stored in the memory. The memory mainly comprises a storage program area and a storage data area, wherein the storage program area can store an operating system, application programs (such as an information acquisition template display function, a product information publishing function and the like) required by at least one function and the like; the storage data area may store data created according to the use of the berth-state display system (e.g., product information acquisition templates corresponding to different product types, product information that needs to be issued by different product providers, etc.), and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The terminal device integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable medium. Based on such understanding, all or part of the modules/units in the system according to the above embodiment may be implemented by a computer program, which may be stored in a computer readable medium and used by a processor to implement the functions of the embodiments of the system. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunications signal, software distribution medium, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element identified by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A cooperative control method for unmanned mine cars is characterized by comprising the following steps:
obtaining size parameters of a mine field, and establishing a mine field model according to size data and a preset scale; the mine field model comprises a loading and unloading area and information points corresponding to the loading and unloading area; the loading and unloading area comprises acquisition points, acquisition equipment is arranged at the position of the mine site corresponding to the acquisition points, and data of the acquisition equipment is input into a data table with the information points as indexes;
generating a numbered transportation task based on the information points, and determining a mine car scheduling list according to the transportation task; the mine car scheduling table comprises mine car number items, mine car allowance items and mine car state items; the values of the mine car state items at least comprise two values and are used for distinguishing a loaded state from an unloaded state;
sending a work order to each mine car based on the mine car scheduling list;
and monitoring the working parameters of all mine cars in the mine field model in real time, generating an adjusting instruction according to the working parameters, and correcting the mine car allowance items in the related mine car scheduling list.
2. The cooperative control method for the unmanned mining vehicle according to claim 1, wherein the step of acquiring data by the collecting device comprises:
acquiring a regional image of a mine field, carrying out contour recognition on the regional image, and positioning a mineral region;
identifying a color value of the mineral area;
acquiring the spatial position of acquisition equipment, and determining an image-real scene mapping relation according to the spatial position;
and calculating the mineral amount according to the color value identification result and the image-real scene mapping relation.
3. The cooperative control method for unmanned mining vehicles according to claim 2, wherein the step of generating a transportation task containing a number based on the information points, and determining a mine vehicle shift schedule according to the transportation task comprises:
sequentially positioning a data table corresponding to each information point, and reading the mineral amount in the data table;
classifying each information point according to the amount of minerals;
acquiring position data of a mine exit, sequentially extracting the position data of any information point in various information points, inputting the position data of the mine exit and the position data of any information point into a Dijkstra algorithm model, and calculating the shortest transportation path; deleting corresponding information points from various information points when a transportation path is generated;
and sequentially determining the numbered transportation tasks according to the transportation paths, and determining a mine car scheduling list according to the transportation tasks.
4. The cooperative control method for unmanned mining vehicles according to claim 3, wherein the step of sequentially determining the transportation tasks including the serial numbers according to the transportation routes comprises the steps of:
calculating the mineral amount corresponding to each information point in the transportation path, and calculating the total mineral amount of the transportation path;
acquiring the load capacity, the single transportation energy consumption and the single transportation time consumption of the idle mine car, calculating the transportation times according to the load capacity and the total mineral quantity, and calculating the total energy consumption and the total time consumption according to the transportation times; wherein the number of the idle mine cars is variable;
counting the transportation times, total energy consumption and total time consumption corresponding to different quantities of idle mine cars to generate a transportation schedule;
opening a parameter acquisition port, acquiring boundary conditions based on the parameter acquisition port, and determining a mine car scheduling list in the transportation calculation list according to the boundary conditions.
5. The cooperative control method for the unmanned mining vehicle according to claim 1, wherein the step of monitoring the working parameters of each mining vehicle in the mine site model in real time, generating an adjustment instruction according to the working parameters, and correcting the remaining quantity items of the mining vehicles in the relevant mine vehicle shift list comprises the following steps:
collecting input signals of all nodes in the mine car, and inputting the input signals into a trained prediction model to obtain prediction signals of all nodes; the node is an electronic device having an input signal and an output signal;
acquiring an output signal of each node, and comparing the output signal with the prediction signal to obtain the deviation rate of each node;
inputting the deviation rate of each node and the corresponding node position into a trained risk model to obtain a risk type;
and generating an adjusting instruction according to the risk type, and correcting the mine car residue items in the related mine car shift list.
6. The cooperative control method for unmanned mining vehicles according to claim 5, wherein the step of generating adjustment instructions according to risk types and modifying the mine vehicle allowance items in the relevant mine vehicle shift list comprises:
generating a discharging instruction according to the risk type, and recording the discharging amount and the discharging position;
establishing a connecting channel with a mine car shift list to which the mine car belongs, and positioning the unloaded mine car according to the state items of the mine cars;
sending a loading command containing a discharge position to one of the unloaded mine cars, and modifying the remaining amount items of the mine cars; and a mapping relation exists between the residual quantity item of the mine car and the unloading quantity.
7. The cooperative control method for unmanned mining vehicles according to claim 6, wherein when the unloading command is generated, a connection path to a mine vehicle shift table to which the mining vehicle belongs is established, a loaded mining vehicle between the mining vehicle and an unloaded mining vehicle is positioned according to the state item of the mining vehicle, and warning information including the unloading amount and the unloading position is transmitted to the loaded mining vehicle between the mining vehicle and the unloaded mining vehicle.
8. An unmanned mining vehicle coordinated control system, the system comprising:
the model building module is used for obtaining size parameters of a mine and building a mine model according to the size data and a preset scale; the mine field model comprises a loading and unloading area and information points corresponding to the loading and unloading area; the loading and unloading area comprises acquisition points, acquisition equipment is arranged at the position of the mine site corresponding to the acquisition points, and data of the acquisition equipment is input into a data table with the information points as indexes;
the scheduling list generating module is used for generating a transportation task containing a serial number based on the information points and determining a mine car scheduling list according to the transportation task; the mine car scheduling table comprises mine car number items, mine car allowance items and mine car state items; the values of the mine car state items at least comprise two values and are used for distinguishing a loaded state from an unloaded state;
the instruction sending module is used for sending work instructions to all mine cars based on the mine car scheduling list;
and the instruction adjusting module is used for monitoring the working parameters of all mine cars in the mine field model in real time, generating adjusting instructions according to the working parameters and correcting the mine car allowance items in the related mine car scheduling list.
9. The unmanned mining vehicle coordinated control system of claim 8, wherein, the shift schedule generation module comprises:
the mineral amount reading unit is used for sequentially positioning the data tables corresponding to the information points and reading the mineral amount in the data tables;
the classification unit is used for classifying each information point according to the amount of minerals;
the route generation unit is used for acquiring position data of a mine exit, sequentially extracting position data of any information point in various information points, inputting the position data of the mine exit and the position data of any information point into a Dijkstra algorithm model, and calculating the shortest transportation route; when a transport route is generated, deleting corresponding information points from various information points;
and the processing execution unit is used for determining the numbered transportation tasks according to the transportation paths in sequence and determining a mine car shift schedule according to the transportation tasks.
10. The unmanned mining vehicle cooperative control system according to claim 9, wherein the processing execution unit includes:
the first calculating subunit is used for calculating the mineral quantity corresponding to each information point in the transportation path and calculating the total mineral quantity of the transportation path;
the second calculating subunit is used for acquiring the load capacity, the single transportation energy consumption and the single transportation time consumption of the idle mine cars, calculating transportation times according to the load capacity and the total mineral quantity, and calculating the total energy consumption and the total time consumption according to the transportation times; wherein the number of the idle mine cars is variable;
the statistics subunit is used for counting the transportation times, the total energy consumption and the total time consumption corresponding to different numbers of idle mine cars and generating a transportation schedule;
and the condition determining subunit is used for opening the parameter acquisition port, acquiring boundary conditions based on the parameter acquisition port and determining a mine car scheduling list in the transportation calculation list according to the boundary conditions.
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