Intelligent transportation scheduling optimization system for coal mine

Abstract

The invention, which relates to the technical field of coal mine transportation scheduling, discloses a coal mine intelligent transportation scheduling optimization system comprising a map construction module, a data acquisition module, a communication module, a monitoring module, an intelligent scheduling module, an emergency processing module and a man-machine interaction module. The system has the advantages that the operation states of coal mine collection equipment and transportation equipment are monitored in real time through the equipment monitoring unit and the environment monitoring unit, the environment state of a mining area is comprehensively monitored, equipment abnormity and environment risks can be found and early warned in time, safety accidents are prevented, and the system is safe and reliable. The service life prediction unit can predict the residual service life of the equipment by monitoring and analyzing the operation time and the accumulated workload of the equipment, and gives out early warning when the equipment is close to the end point of the service life, so that potential safety hazards caused by equipment aging are avoided, and the safety of coal mine transportation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine transportation scheduling, and in particular to a coal mine intelligent transportation scheduling optimization system. Background Art

[0002] As an important basic energy source, coal has a continuous market demand. In order to meet the growing energy demand, coal mining enterprises need to improve production efficiency, and efficient transportation scheduling is the key link to achieve this goal. In the coal mining process, transportation is a vital component, which is directly related to the production efficiency and safety of coal mines. The traditional system does not monitor the operating status of coal mining equipment and transportation equipment comprehensively. It can only obtain some basic operating data, but cannot monitor the overall status of the equipment in real time. At the same time, there are blind spots in the monitoring of the environmental status of the mining area, and it is impossible to detect and warn of potential environmental risks in time. The incompleteness of this monitoring has led to many equipment failures and environmental accidents that have not been discovered and handled in time, thereby increasing the probability of safety accidents. For this reason, we propose a coal mine intelligent transportation scheduling optimization system. Summary of the invention

[0003] The purpose of the present invention is to provide a coal mine intelligent transportation scheduling optimization system.

[0004] In order to solve the problems raised in the above background technology, the present invention provides the following technical solutions: a coal mine intelligent transportation scheduling optimization system, comprising the following modules: A map construction module, the map construction module includes a coal mine terrain acquisition unit and a model building unit, the coal mine terrain acquisition unit is used to obtain three-dimensional point cloud data of coal mine tunnels, and the model building unit is used to build a three-dimensional model of the coal mine tunnels; A data acquisition module, the data acquisition module includes a sensor unit, the sensor unit is used to collect the position, load weight and running speed data of the coal mine transportation equipment; A communication module, the communication module comprising a wireless transmission unit and a wired transmission unit, the wireless transmission unit being used for remote dispatching of coal mine transportation equipment, and the wired transmission unit being used for auxiliary communication when wireless communication fails; A monitoring module, wherein the monitoring module includes an equipment monitoring unit, an environment monitoring unit, and an early warning unit. The equipment monitoring unit is used to monitor the operating status of coal mining equipment and coal mining transportation equipment, the environment monitoring unit is used to monitor the status of the mining area environment, and the early warning unit will issue an early warning for abnormal conditions monitored by the equipment monitoring unit and the environment monitoring unit; An intelligent scheduling module, the intelligent scheduling module includes a task allocation unit, a path planning unit and an optimization unit, the task allocation unit is used to allocate transportation tasks, the path planning unit is used to plan the operation path of coal mine transportation equipment, and the optimization unit is used to analyze abnormal conditions in the operation path of coal mine transportation equipment and provide corresponding abnormal optimization solutions; An emergency processing module, the emergency processing module includes an alarm unit and an emergency dispatch unit. The alarm unit is used to send an alarm signal when a safety accident or emergency occurs. The emergency dispatch unit is used to receive the alarm signal from the alarm unit and retrieve the corresponding emergency plan from the emergency processing solution library according to the content of the alarm signal; A human-computer interaction module, the human-computer interaction module includes a human-computer interaction interface and a data storage unit, the human-computer interaction interface is used to display the three-dimensional model of the coal mine tunnel, the real-time position, operation status and loading weight data of the transportation equipment in real time, and the data storage unit is used to store the instructions input by the user, the logs generated by the system and the operation data of the transportation equipment.

[0005] As a further solution of the present invention: the coal mine terrain acquisition unit uses a three-dimensional laser scanner to scan the coal mine tunnel to obtain three-dimensional point cloud data, and the model building unit can use Blender modeling software to convert the collected three-dimensional point cloud data into a three-dimensional model of the coal mine tunnel, and divide the coal mine tunnel into areas according to turning points.

[0006] As a further solution of the present invention: the sensor unit can transmit the collected data on the position, loading weight and running speed of the coal mine transportation equipment to the model building unit, the intelligent control module and the human-computer interaction module by wireless transmission.

[0007] As a further solution of the present invention: the wireless transmission unit adopts Wi-Fi wireless communication technology to remotely dispatch coal mine transportation equipment, and the wired transmission unit selects optical fiber as the transmission medium.

[0008] As a further solution of the present invention: the equipment monitoring unit will number the coal mine collection equipment and the coal mine transportation equipment. The equipment monitoring unit can collect sensor data on the coal mine collection equipment and the coal mine transportation equipment in real time, and compare the collected data with the normal operating parameters of the equipment. For data greater than the set maximum threshold and less than the set minimum threshold, the equipment monitoring unit will send the equipment location information and equipment number that generated the data to the early warning unit. The early warning unit will generate an early warning instruction and transmit it to the intelligent scheduling module and the human-computer interaction module in a wireless transmission manner. The environmental monitoring unit will monitor the environmental parameter data in the environment in real time. The environmental parameters include gas concentration, dust concentration, temperature and humidity, and analyze the changing trend of the environment in the future period of time in combination with historical data. For environmental parameters whose data difference within 1 hour is greater than the set normal fluctuation value and presents a single changing trend, the number information of the area and the abnormal environmental parameters will be sent to the early warning unit. The monitoring module also includes a life prediction unit. The life prediction unit will monitor the operating time and cumulative workload data of all equipment in the coal mine, and substitute them into the formula to predict the remaining life of the equipment. The specific formula is as follows:

[0009] Among them, L represents the remaining life of the equipment, S represents the expected life of the equipment, Indicates the time the device has been used. Indicates the expected usage time of the device. Indicates the amount of work that the equipment should complete during its expected life. Indicates the cumulative workload of the equipment. When the life prediction unit sends the device location information and device number of the device to the early warning unit, the early warning unit generates an early warning instruction.

[0010] As a further solution of the present invention: the intelligent scheduling module also includes an equipment classification unit, which classifies coal mine transportation equipment according to the carrying capacity. The transportation tasks in the task allocation unit are divided into three levels: emergency tasks, important production tasks and ordinary transportation tasks. The task allocation unit gives priority to allocating transportation tasks with high priority. The task allocation unit will retrieve the equipment information classified in the equipment classification unit, screen out transportation equipment suitable for executing the task according to the task volume of the transportation task, and dispatch the corresponding number according to the principle of proximity. The path planning unit can retrieve the three-dimensional model of the coal mine tunnel constructed in the map construction module, combine the equipment information allocated by the task allocation unit and the starting and ending parameters of the transportation task, use the Dijkstra algorithm to calculate the transportation path with the shortest time, and arrange the remaining paths in chronological order as alternatives. The path planning unit will identify the transportation equipment flow data of each area in the three-dimensional model of the coal mine tunnel. For areas where the regional flow reaches 0.8 times the maximum regional flow, the path planning unit will select a path that does not pass through the area in the subsequently planned transportation path.

[0011] As a further solution of the present invention: the optimization unit can obtain the early warning instructions of the early warning unit and the alarm instructions of the alarm unit in real time, and generate a scheduling optimization plan according to the content of the instructions, and feed the plan back to the task allocation unit and the path planning unit. When the content of the instruction is that the transportation equipment is abnormal, the optimization unit will identify the task data of the equipment and feed it back to the task allocation unit to reallocate the transportation equipment to perform the task. The optimization unit can adjust the allocation and path planning of the transportation equipment according to the transportation demand and the status of the transportation equipment, and select the equipment with the smallest current workload to perform the task. The calculation formula of the equipment with the smallest load is as follows:

[0012] in, represents the total workload of device i, m represents the number of time periods, represents the workload of device i in the jth time period.

[0013] As a further solution of the present invention: the alarm unit uses an audible and visual alarm combined with SMS push to send an alarm, the emergency handling solution library is established based on historical accident handling solutions and coal mine industry safety production standards, and the emergency dispatch unit can dynamically adjust and optimize the emergency plan based on real-time accident conditions and resource conditions.

[0014] As a further solution of the present invention: the human-computer interaction module also includes an intelligent voice interaction unit and an encryption unit. The intelligent voice interaction unit is used for the user to interact with the system through voice commands, and the encryption unit is used to encrypt, store and transmit data. The encryption unit can control access and manage permissions, and only authorized users can access and modify data.

[0015] By adopting the above technical solution, compared with the prior art, the beneficial effects of the present invention are: 1. The present invention monitors the operating status of coal mining equipment and transportation equipment in real time through the equipment monitoring unit and the environment monitoring unit, as well as comprehensively monitors the environmental status of the mining area, so as to timely discover and warn of equipment abnormalities and environmental risks, and prevent the occurrence of safety accidents. The life prediction unit can predict the remaining life of the equipment by monitoring and analyzing the equipment operation time and accumulated workload, and issue a warning when the equipment is close to the end of its life, thus avoiding safety hazards caused by equipment aging, thereby improving the safety of coal mine transportation; 2. The present invention obtains early warning and alarm instructions in real time through the optimization unit, and quickly generates a scheduling optimization plan according to the instruction content. When the transportation equipment is abnormal, the optimization unit can immediately identify and reallocate tasks to ensure that the transportation task is not affected. At the same time, the optimization unit can also dynamically adjust the allocation and path planning of transportation equipment according to transportation demand and equipment status, and select the equipment with the smallest current workload to perform the task, thereby maximizing the use of equipment resources and improving transportation efficiency; 3. The present invention realizes comprehensive monitoring and early warning of coal mine equipment and environment by setting up equipment monitoring units, environmental monitoring units, early warning units and emergency processing modules. When abnormalities occur in the equipment or environment, the system can immediately trigger the early warning mechanism and take corresponding emergency measures. At the same time, the emergency processing module can also dynamically adjust and optimize the emergency plan according to the real-time accident situation and resource conditions, thereby improving the safety and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the scheduling optimization system flow in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Please see attached Figure 1The present invention provides a coal mine intelligent transportation scheduling optimization system, comprising the following modules: A map construction module, which includes a coal mine terrain acquisition unit and a model building unit. The coal mine terrain acquisition unit is used to obtain three-dimensional point cloud data of coal mine tunnels, and the model building unit is used to build a three-dimensional model of coal mine tunnels; A data acquisition module, the data acquisition module includes a sensor unit, the sensor unit is used to collect the position, loading weight and running speed data of the coal mine transportation equipment; A communication module, the communication module includes a wireless transmission unit and a wired transmission unit, the wireless transmission unit is used for remote dispatching of coal mine transportation equipment, and the wired transmission unit is used for auxiliary communication when wireless communication fails; Monitoring module, which includes equipment monitoring unit, environment monitoring unit and early warning unit. The equipment monitoring unit is used to monitor the operation status of coal mining equipment and coal mining transportation equipment, the environment monitoring unit is used to monitor the status of the mining environment, and the early warning unit will issue early warnings for abnormal situations monitored by the equipment monitoring unit and the environment monitoring unit; Intelligent scheduling module, which includes a task allocation unit, a path planning unit and an optimization unit. The task allocation unit is used to allocate transportation tasks, the path planning unit is used to plan the operation path of coal mine transportation equipment, and the optimization unit is used to analyze abnormal situations in the operation path of coal mine transportation equipment and provide corresponding abnormal optimization solutions; The emergency processing module includes an alarm unit and an emergency dispatch unit. The alarm unit is used to send out an alarm signal when a safety accident or emergency occurs. The emergency dispatch unit is used to receive the alarm signal from the alarm unit and retrieve the corresponding emergency plan from the emergency processing solution library according to the content of the alarm signal. The human-computer interaction module includes a human-computer interaction interface and a data storage unit. The human-computer interaction interface is used to display the three-dimensional model of the coal mine tunnel, the real-time position, operation status and loading weight data of the transportation equipment in real time. The data storage unit is used to store the instructions input by the user, the logs generated by the system and the operation data of the transportation equipment.

[0019] In one embodiment of the present invention: the coal mine terrain acquisition unit uses a three-dimensional laser scanner to scan the coal mine tunnel to obtain three-dimensional point cloud data, and the model building unit can use Blender modeling software to convert the collected three-dimensional point cloud data into a three-dimensional model of the coal mine tunnel, and divide the coal mine tunnel into areas according to turning points.

[0020] In one embodiment of the present invention: the sensor unit can transmit the collected data on the position, loading weight and running speed of the coal mine transportation equipment to the model building unit, the intelligent control module and the human-computer interaction module by wireless transmission.

[0021] In one embodiment of the present invention: the wireless transmission unit uses Wi-Fi wireless communication technology to remotely dispatch coal mine transportation equipment, and the wired transmission unit uses optical fiber as the transmission medium.

[0022] In one embodiment of the present invention: the equipment monitoring unit will number the coal mine collection equipment and the coal mine transportation equipment. The equipment monitoring unit can collect sensor data on the coal mine collection equipment and the coal mine transportation equipment in real time, and compare the collected data with the normal operating parameters of the equipment. For data greater than the set maximum threshold and less than the set minimum threshold, the equipment monitoring unit will send the equipment location information and equipment number that generated the data to the early warning unit. The early warning unit will generate an early warning instruction and transmit it to the intelligent scheduling module and the human-computer interaction module in a wireless transmission manner. The environmental monitoring unit will monitor the environmental parameter data in the environment in real time. The environmental parameters include gas concentration, dust concentration, temperature and humidity, and analyze the changing trend of the environment in the future period of time in combination with historical data. For environmental parameters whose data difference within 1 hour is greater than the set normal fluctuation value and presents a single changing trend, the number information of the area and the abnormal environmental parameters will be sent to the early warning unit. The monitoring module also includes a life prediction unit. The life prediction unit will monitor the operating time and cumulative workload data of all equipment in the coal mine, and substitute them into the formula to predict the remaining life of the equipment. The specific formula is as follows:

[0023] Among them, L represents the remaining life of the equipment, S represents the expected life of the equipment, Indicates the time the device has been used. Indicates the expected usage time of the device. Indicates the amount of work that the equipment should complete during its expected life. Indicates the cumulative workload of the equipment. When the life prediction unit sends the device location information and device number of the device to the early warning unit, the early warning unit generates an early warning instruction.

[0024] In one embodiment of the present invention: the intelligent scheduling module also includes an equipment classification unit, which classifies coal mine transportation equipment according to the carrying capacity. The transportation tasks in the task allocation unit are divided into three levels: emergency tasks, important production tasks and ordinary transportation tasks. The task allocation unit gives priority to allocating transportation tasks with high priority. The task allocation unit will retrieve the equipment information classified in the equipment classification unit, screen out transportation equipment suitable for executing the task according to the task volume of the transportation task, and dispatch the corresponding number according to the principle of proximity. The path planning unit can retrieve the three-dimensional model of the coal mine tunnel constructed in the map construction module, combine the equipment information allocated by the task allocation unit and the starting and ending parameters of the transportation task, and use the Dijkstra algorithm to calculate the transportation path with the shortest time, and arrange the remaining paths in chronological order as alternatives. The path planning unit will identify the transportation equipment flow data of each area in the three-dimensional model of the coal mine tunnel. For areas where the regional flow reaches 0.8 times the maximum regional flow, the path planning unit will select a path that does not pass through the area in the subsequently planned transportation path.

[0025] In one embodiment of the present invention: the optimization unit can obtain the early warning instructions of the early warning unit and the alarm instructions of the alarm unit in real time, and generate a scheduling optimization plan according to the content of the instructions, and feed the plan back to the task allocation unit and the path planning unit. When the content of the instruction is that the transportation equipment is abnormal, the optimization unit will identify the task data of the equipment and feed it back to the task allocation unit to reallocate the transportation equipment to perform the task. The optimization unit can adjust the allocation and path planning of the transportation equipment according to the transportation demand and the status of the transportation equipment, and select the equipment with the smallest current workload to perform the task. The calculation formula of the equipment with the smallest load is as follows:

[0026] in, represents the total workload of device i, m represents the number of time periods, Indicates the workload of device i in the jth time period. In one embodiment of the present invention: the alarm unit uses an audible and visual alarm combined with SMS push to send an alarm, the emergency handling solution library is established based on historical accident handling solutions and coal mine industry safety production specifications, and the emergency dispatch unit can dynamically adjust and optimize the emergency plan based on real-time accident conditions and resource conditions.

[0027] In one embodiment of the present invention: the human-computer interaction module also includes an intelligent voice interaction unit and an encryption unit. The intelligent voice interaction unit is used for the user to interact with the system through voice commands. The encryption unit is used to encrypt, store and transmit data. The encryption unit can control access and manage permissions. Only authorized users can access and modify data.

[0028] Example 1, please refer to the attached Figure 1 When a transport device fails, the optimization unit can immediately identify the task data of the device and reallocate the task to other available transport devices to ensure that the transport task is not affected. At the same time, the optimization unit can dynamically adjust the allocation and path planning of transport equipment according to the current transport demand and equipment status. Specifically, the optimization unit calculates the workload of each device and selects the device with the smallest current workload to perform the task, thereby maximizing the use of equipment resources and improving transportation efficiency; For example, in a coal mine, the sensor of a coal truck detected an engine failure. The equipment monitoring unit identified the abnormal situation of the truck through the collected sensor data, and sent its location information (such as the specific coordinates of a tunnel in the mine) and the equipment number to the early warning unit. The early warning unit then generated an early warning instruction and transmitted it to the intelligent scheduling module and the human-computer interaction module respectively. In the intelligent scheduling module, the optimization unit identified that the original transportation task of the truck was to transport coal from the coal mining face to the ground coal storage yard, and the task volume was 20 tons of coal. The optimization unit fed back the task information The information is fed to the task allocation unit, which selects another coal truck with a load capacity of 20 tons from the equipment classification unit, which is also suitable for the task and closer to the coal mining face. At the same time, the path planning unit re-plans the transportation route according to the newly assigned truck information and the starting point (coal mining face) and end point (ground coal storage yard) parameters of the transportation task. For example, the original route of the faulty truck is through areas A, B, and C, but the newly planned route may be changed to pass through areas D, E, and F to avoid possible congestion or other risks, ensuring that the transportation task is not affected.

[0029] Example 2, please refer to the attached Figure 1 The equipment monitoring unit monitors the operating parameters of the equipment (such as temperature, vibration, current, etc.) in real time and compares them with the preset normal range. Once an abnormality is found, an early warning is triggered immediately, and the abnormal information is sent to the intelligent scheduling module and the human-computer interaction interface. At the same time, the environmental monitoring unit monitors the environmental parameters such as gas concentration, dust concentration, temperature and humidity in the mining area in real time, and uses historical data analysis and prediction models to predict the changing trend of the environment in the future, and issues early warnings for possible abnormal situations. In addition, the life prediction unit monitors the operating time and cumulative workload of the equipment, combined with the historical maintenance records and usage of the equipment, to predict the remaining life of the equipment, and issues an early warning when the equipment is close to the end of its life, reminding maintenance personnel to replace or repair the equipment in time, thereby avoiding safety hazards caused by equipment aging. These measures have jointly improved the safety of coal mine transportation; For example, in a coal mine, the environmental monitoring unit detected that the gas concentration in a certain tunnel area rose from the normal 0.5% to 1.2%, exceeding the set safety threshold of 1%. The environmental monitoring unit sent the number information of the area (such as the tunnel number is zone 3) and abnormal environmental parameters to the early warning unit. After the early warning unit generated the early warning instruction, the intelligent scheduling module responded. The path planning unit in the intelligent scheduling module would avoid the transportation equipment passing through the risk area when planning the subsequent transportation route. For example, a coal truck originally planned to go from point A to point B through the area with abnormal gas concentration. Now the path planning unit re-plans the route and changes it to go from point A through areas G and H to point B. At the same time, the abnormal situation will be displayed in real time on the human-computer interaction interface, such as highlighting the warning message "Gas concentration in zone 3 exceeds the standard" on the interface and marking the area with different colors. After seeing the warning message, relevant staff can take measures to reduce the gas concentration, such as strengthening ventilation, to ensure the safety of the mine area.

[0030] Example 3, please refer to the attached Figure 1 , the equipment monitoring unit and the environment monitoring unit conduct comprehensive monitoring of the coal mine equipment and environment. Once an abnormality is found, the early warning mechanism is immediately triggered, and a warning is issued to the operator through the human-computer interaction interface. At the same time, the emergency processing module retrieves the corresponding emergency plan from the emergency processing solution library according to the early warning information and takes corresponding emergency measures. When equipment fails, the emergency processing module will immediately start the backup equipment or adjust the production plan to ensure that production is not affected. In addition, the emergency processing module can also dynamically adjust and optimize the emergency plan according to the real-time accident situation and resource status; For example, when a local collapse accident occurs in a coal mine, the alarm unit receives a safety accident signal from a sensor near the collapse area, immediately uses an audible and visual alarm to sound an alarm and flash a light, and sends a text message to the relevant person in charge to push the alarm signal. The emergency dispatch unit retrieves the corresponding emergency plan from the emergency handling plan library based on the content of the alarm signal. The plan may include immediately stopping transportation operations in the nearby area, organizing a rescue team, and deploying emergency equipment. The emergency dispatch unit quickly dispatches the two rescue vehicles and a group of rescue personnel closest to the landslide area to the accident site, and plans the best rescue route, which may be to choose a relatively spacious and stable tunnel to the landslide area. At the same time, based on the real-time accident situation and resource conditions, if it is found that the rescue equipment is insufficient, the emergency dispatch unit can dynamically adjust the emergency plan and request other coal mines or relevant departments to support more rescue equipment. During the entire emergency response process, the rescue plan is continuously optimized according to the new situation to improve the efficiency of emergency response.

[0031] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A coal mine intelligent transportation scheduling optimization system, characterized in that: Includes the following modules: A map construction module, the map construction module includes a coal mine terrain acquisition unit and a model building unit, the coal mine terrain acquisition unit is used to obtain three-dimensional point cloud data of coal mine tunnels, and the model building unit is used to build a three-dimensional model of the coal mine tunnels; A data acquisition module, the data acquisition module includes a sensor unit, the sensor unit is used to collect the position, load weight and running speed data of the coal mine transportation equipment; A communication module, the communication module comprising a wireless transmission unit and a wired transmission unit, the wireless transmission unit being used for remote dispatching of coal mine transportation equipment, and the wired transmission unit being used for auxiliary communication when wireless communication fails; A monitoring module, wherein the monitoring module includes an equipment monitoring unit, an environment monitoring unit, and an early warning unit. The equipment monitoring unit is used to monitor the operating status of coal mining equipment and coal mining transportation equipment, the environment monitoring unit is used to monitor the status of the mining area environment, and the early warning unit will issue an early warning for abnormal conditions monitored by the equipment monitoring unit and the environment monitoring unit; An intelligent scheduling module, the intelligent scheduling module includes a task allocation unit, a path planning unit and an optimization unit, the task allocation unit is used to allocate transportation tasks, the path planning unit is used to plan the operation path of coal mine transportation equipment, and the optimization unit is used to analyze abnormal conditions in the operation path of coal mine transportation equipment and provide corresponding abnormal optimization solutions; An emergency processing module, the emergency processing module includes an alarm unit and an emergency dispatch unit. The alarm unit is used to send an alarm signal when a safety accident or emergency occurs. The emergency dispatch unit is used to receive the alarm signal from the alarm unit and retrieve the corresponding emergency plan from the emergency processing solution library according to the content of the alarm signal; A human-computer interaction module, the human-computer interaction module includes a human-computer interaction interface and a data storage unit, the human-computer interaction interface is used to display the three-dimensional model of the coal mine tunnel, the real-time position, operation status and loading weight data of the transportation equipment in real time, and the data storage unit is used to store the instructions input by the user, the logs generated by the system and the operation data of the transportation equipment.

2. The coal mine intelligent transportation scheduling optimization system according to claim 1 is characterized by: The coal mine terrain acquisition unit uses a three-dimensional laser scanner to scan the coal mine tunnel to obtain three-dimensional point cloud data. The model building unit can use Blender modeling software to convert the collected three-dimensional point cloud data into a three-dimensional model of the coal mine tunnel, and divide the coal mine tunnel into areas according to turning points.

3. The coal mine intelligent transportation scheduling optimization system according to claim 1 is characterized by: The sensor unit can transmit the collected data on the position, loading weight and running speed of the coal mine transportation equipment to the model building unit, the intelligent control module and the human-computer interaction module by wireless transmission.

4. The coal mine intelligent transportation scheduling optimization system according to claim 1 is characterized by: The wireless transmission unit uses Wi-Fi wireless communication technology to remotely dispatch coal mine transportation equipment, and the wired transmission unit uses optical fiber as the transmission medium.

5. The coal mine intelligent transportation scheduling optimization system according to claim 1 is characterized by: The equipment monitoring unit will number the coal mine collection equipment and coal mine transportation equipment. The equipment monitoring unit can collect sensor data on the coal mine collection equipment and coal mine transportation equipment in real time, and compare the collected data with the normal operating parameters of the equipment. For data greater than the set maximum threshold and less than the set minimum threshold, the equipment monitoring unit will send the equipment location information and equipment number that generated the data to the early warning unit. The early warning unit will generate an early warning instruction and transmit it to the intelligent scheduling module and the human-computer interaction module in a wireless transmission manner. The environmental monitoring unit will monitor the environmental parameter data in the environment in real time. The environmental parameters include gas concentration, dust concentration, temperature and humidity, and analyze the changing trend of the environment in the future period of time in combination with historical data. For environmental parameters whose data difference within 1 hour is greater than the set normal fluctuation value and presents a single changing trend, the number information of the area and the abnormal environmental parameters will be sent to the early warning unit. The monitoring module also includes a life prediction unit. The life prediction unit will monitor the operating time and cumulative workload data of all equipment in the coal mine, and substitute them into the formula to predict the remaining life of the equipment. The specific formula is as follows: ； Among them, L represents the remaining life of the equipment, S represents the expected life of the equipment, Indicates the time the device has been used. Indicates the expected usage time of the device. Indicates the amount of work that the equipment should complete during its expected life. Indicates the cumulative workload of the equipment. When the life prediction unit sends the device location information and device number of the device to the early warning unit, the early warning unit generates an early warning instruction.

6. The coal mine intelligent transportation scheduling optimization system according to claim 1 is characterized by: The intelligent scheduling module also includes an equipment classification unit, which classifies coal mine transportation equipment according to the carrying capacity. The transportation tasks in the task allocation unit are divided into three levels: emergency tasks, important production tasks and ordinary transportation tasks. The task allocation unit gives priority to high-priority transportation tasks. The task allocation unit will retrieve the equipment information classified in the equipment classification unit, screen out transportation equipment suitable for executing the task according to the task volume of the transportation task, and dispatch the corresponding number according to the principle of proximity. The path planning unit can retrieve the three-dimensional model of the coal mine tunnel constructed in the map construction module, combine the equipment information allocated by the task allocation unit and the starting and ending parameters of the transportation task, use the Dijkstra algorithm to calculate the transportation path with the least time, and arrange the remaining paths in chronological order as alternatives. The path planning unit will identify the transportation equipment flow data of each area in the three-dimensional model of the coal mine tunnel. For areas where the regional flow reaches 0.8 times the maximum regional flow, the path planning unit will select a path that does not pass through the area in the subsequently planned transportation path.

7. The coal mine intelligent transportation scheduling optimization system according to claim 1 is characterized by: The optimization unit can obtain the early warning instructions of the early warning unit and the alarm instructions of the alarm unit in real time, and generate a scheduling optimization plan according to the content of the instructions, and feed the plan back to the task allocation unit and the path planning unit. When the content of the instruction is that the transportation equipment is abnormal, the optimization unit will identify the task data of the equipment and feed it back to the task allocation unit to reallocate the transportation equipment to perform the task. The optimization unit can adjust the allocation and path planning of the transportation equipment according to the transportation demand and the status of the transportation equipment, and select the equipment with the smallest current workload to perform the task. The calculation formula of the equipment with the smallest load is as follows: ； in, represents the total workload of device i, m represents the number of time periods, represents the workload of device i in the jth time period.

8. The coal mine intelligent transportation scheduling optimization system according to claim 1 is characterized by: The alarm unit uses an audible and visual alarm combined with SMS push to send an alarm. The emergency response solution library is established based on historical accident handling solutions and coal mine industry safety production regulations. The emergency dispatch unit can dynamically adjust and optimize the emergency plan based on real-time accident conditions and resource conditions.

9. The coal mine intelligent transportation scheduling optimization system according to claim 1 is characterized by: The human-computer interaction module also includes an intelligent voice interaction unit and an encryption unit. The intelligent voice interaction unit is used for the user to interact with the system through voice commands, and the encryption unit is used to encrypt, store and transmit data. The encryption unit can control access and manage permissions, and only authorized users can access and modify data.

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