Method and device for evaluating load of unmanned vehicle in surface mine

Abstract

The invention provides a surface mine unmanned vehicle load evaluation method and device, and relates to the technical field of vehicle safety monitoring, and the method comprises the steps: collecting real-time vehicle load related signal data; performing wavelet transformation on the signal data; de-noising processing is carried out on the converted signal data; according to the denoised signal data, determining a real-time value of the vehicle load through signal reconstruction; calculating the deviation degree of the real-time value and the general value of the vehicle load, and determining the deviation value of the vehicle load; judging whether the deviation value of the vehicle load exceeds a deviation threshold value or not; if yes, determining the reason for generating the abnormal load, and adjusting the links of production operation in time; otherwise, taking the real-time value as historical data to be included in the calculation model of the general value, returning to the step S1, and continuing to monitor. According to the invention, the safety, reliability and efficiency of the operation process of the unmanned vehicle can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle safety monitoring, and in particular to a method and a device for evaluating the load of an unmanned vehicle in an open-pit mine. Background Art

[0002] Mining unmanned vehicles are the core equipment of mining production. They are expensive and are important assets. Their operating status involves mine safety production. Evaluating the load of mining unmanned vehicles refers to real-time monitoring, analysis and feedback of the load of unmanned vehicles to ensure the efficiency and safety of mining transportation operations.

[0003] The operation process of unmanned vehicles in mines is a cyclical process, including loading, full-load transportation, unloading, and empty-load return. The loading and full-load transportation processes are the links with the worst loads. There are multiple impacts in the loading process, and the impact caused by uneven roads during full-load transportation is the main cause of vehicle damage. Therefore, evaluating the load of unmanned vehicles in mines is of great significance to the operation of unmanned vehicles and improving the safety, reliability and efficiency of the unmanned vehicle operation process.

[0004] The existing load assessment methods for unmanned vehicles in open-pit mines still have some defects in practical applications. First, in complex mining environments, signal acquisition is easily disturbed by noise and harsh conditions, resulting in unstable data quality. At the same time, the system lacks real-time and robustness, and may be delayed or misjudged when processing large amounts of data or complex conditions, resulting in reduced safety, reliability and efficiency of unmanned vehicles during operations, and it is difficult to detect factors that constitute load abnormalities during operations. Summary of the invention

[0005] In order to solve the technical problems in the prior art of the existing open-pit mine unmanned vehicle load assessment method, in which, in a complex mining environment, signal acquisition is easily disturbed by noise and harsh conditions, resulting in unstable data quality, and the system is insufficient in real-time and robustness, and may be delayed or misjudged when processing large amounts of data or complex conditions, resulting in reduced safety, reliability and efficiency of the unmanned vehicle during operation, and it is difficult to discover the factors that constitute load abnormalities during operation. The present invention provides an open-pit mine unmanned vehicle load assessment method and device.

[0006] The technical solution provided by the embodiment of the present invention is as follows:

[0007] First aspect

[0008] An embodiment of the present invention provides a method for evaluating the load of an unmanned vehicle in an open-pit mine, comprising:

[0009] S1: Collect real-time vehicle load-related signal data;

[0010] S2: Perform wavelet transform on signal data;

[0011] S3: De-noising the transformed signal data;

[0012] S4: Determine the real-time value of the vehicle load through signal reconstruction based on the signal data obtained by denoising;

[0013] S5: Calculate the degree of deviation between the real-time value of the vehicle load and the general value, and determine the deviation value of the vehicle load;

[0014] S6: Determine whether the deviation value of the vehicle load exceeds the deviation threshold; if so, determine the cause of the abnormal load and adjust the production operation in time; otherwise, include the real-time value as historical data in the calculation model of the general value, and return to S1 to continue monitoring.

[0015] Furthermore, the real-time value of the vehicle load is specifically:

[0016]

[0017] Among them, L i represents the real-time value of the vehicle load at position i, A represents the load mark, μ represents the mean value of the signal data, Indicates the average amplitude of the absolute value of the signal data, X max represents the maximum value of the signal data, σ represents the standard deviation of the signal data, C represents the difference between the highest point and the lowest point of the signal, K represents the probability of a large amplitude pulse, I represents the pulse, S represents the waveform, and k 1 , k 2 , k 3 and k 4 Indicates the weights of different types of transported materials, i.e. ore types.

[0018] Furthermore, the deviation value of the vehicle load is specifically:

[0019]

[0020] Among them, L i represents the vehicle load deviation value at position i, L i represents the real-time value of the vehicle load at position i, represents the average value of the vehicle load at position i.

[0021] Furthermore, the general value of vehicle load is specifically:

[0022]

[0023] in, Indicates the general value of vehicle load, L i represents the real-time value of the vehicle load at position i, and n represents the total number of positions.

[0024] Furthermore, timely adjustments to production operations include: adjusting equipment, maintaining roads, material composition analysis, and production planning adjustments.

[0025] Second aspect

[0026] An embodiment of the present invention provides a device for evaluating the load of an unmanned vehicle in an open-pit mine, comprising:

[0027] An acquisition module, used to collect real-time vehicle load-related signal data;

[0028] A transformation module, used for performing wavelet transformation on signal data;

[0029] A denoising module, used for denoising the transformed signal data;

[0030] A reconstruction module, used to determine the real-time value of the vehicle load by signal reconstruction based on the signal data obtained by denoising;

[0031] A calculation module, used to calculate the degree of deviation between the real-time value of the vehicle load and the general value, and determine the deviation value of the vehicle load;

[0032] The judgment module is used to judge whether the deviation value of the vehicle load exceeds the deviation threshold; if so, determine the cause of the abnormal load and adjust the production operation in time; otherwise, include the real-time value as historical data in the calculation model of the general value, and return to S1 to continue monitoring.

[0033] Furthermore, the real-time value of the vehicle load is specifically:

[0034]

[0035] Among them, L i represents the real-time value of the vehicle load at position i, A represents the load mark, μ represents the mean value of the signal data, Indicates the average amplitude of the absolute value of the signal data, X max represents the maximum value of the signal data, σ represents the standard deviation of the signal data, C represents the difference between the highest point and the lowest point of the signal, K represents the probability of a large amplitude pulse, I represents the pulse, S represents the waveform, and k 1 , k 2 , k 3 and k 4 Indicates the weights of different types of transported materials, i.e. ore types.

[0036] Furthermore, the deviation value of the vehicle load is specifically:

[0037]

[0038] Among them, L i represents the vehicle load deviation value at position i, L i represents the real-time value of the vehicle load at position i, represents the average value of the vehicle load at position i.

[0039] Furthermore, the general value of vehicle load is specifically:

[0040]

[0041] in, Indicates the general value of vehicle load, L i represents the real-time value of the vehicle load at position i, and n represents the total number of positions.

[0042] Furthermore, timely adjustments to production operations include: adjusting equipment, maintaining roads, material composition analysis, and production planning adjustments.

[0043] The third aspect

[0044] An embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method for evaluating the load of an unmanned vehicle in an open-pit mine according to the first aspect is implemented.

[0045] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0046] In the present invention, the signal data of the vehicle is collected in real time through sensors and communication devices, and the signal data is subjected to wavelet transformation and denoising. The real-time value and deviation value of the vehicle load are determined through signal reconstruction. Based on the deviation value of the vehicle load, it is further determined whether the deviation value of the vehicle load exceeds the deviation threshold; if so, the cause of the abnormal load is determined, and the production operation link is adjusted in time; otherwise, the real-time value is included in the calculation model of the general value as historical data, and monitoring continues. The present invention monitors the load of unmanned mining vehicles and realizes real-time evaluation of the vehicle operation process through data processing methods. The invention is applicable to unmanned vehicles in different types of mines, can support a variety of mine management systems, and further improves the safety, reliability and efficiency of the unmanned vehicle operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 A schematic flow chart of a method for evaluating the load of an unmanned vehicle in an open-pit mine provided by an embodiment of the present invention;

[0049] Figure 2 A schematic diagram of the structure of a method for evaluating the load of an unmanned vehicle in an open-pit mine provided by an embodiment of the present invention;

[0050] Figure 3 A schematic diagram of the structure of a device for evaluating the load of an unmanned vehicle in an open-pit mine provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0052] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0053] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0054] Reference Manual Attached Figure 1 , showing a flow chart of a method for evaluating the load of an unmanned vehicle in an open-pit mine provided by an embodiment of the present invention.

[0055] The embodiment of the present invention provides a method for evaluating the load of an unmanned vehicle in an open-pit mine. The method can be implemented by an evaluation device for the load of an unmanned vehicle in an open-pit mine. The evaluation device for the load of an unmanned vehicle in an open-pit mine can be a terminal or a server. The processing flow of the method for evaluating the load of an unmanned vehicle in an open-pit mine can include the following steps:

[0056] S1: Collect real-time vehicle load-related signal data.

[0057] Among them, real-time vehicle load-related signal data refers to various dynamic parameter data related to the load status of unmanned vehicles collected through sensors and communication devices, including vibration signals, speed, vehicle acceleration, load sensor data, etc. These data can directly or indirectly reflect the load conditions borne by the vehicle during transportation.

[0058] It should be noted that by collecting signal data related to vehicle load in real time, dynamic monitoring of the vehicle's operating status can be ensured. This real-time performance enables the system to quickly capture instantaneous changes in load and avoid judgment delays caused by data delays.

[0059] Reference Manual Attached Figure 2 , showing a structural schematic diagram of a method for evaluating the load of an unmanned vehicle in an open-pit mine provided by an embodiment of the present invention.

[0060] Figure 2 In the analysis, the raw data represents the original signal initially collected. The raw data is decomposed using wavelet transform. Then, after wavelet transform, the signal is denoised. This step can filter out the noise components in the signal and retain the main effective signal, making the data clearer and more representative. After the denoising process is completed, the signal is reconstructed back to its original form, which means that the processed wavelet components are reorganized to obtain a cleaner and more realistic signal. Finally, through signal reconstruction, two types of indicators are calculated according to analysis needs. Among them, dimensional indicators usually retain physical units and directly reflect the physical properties of the signal, such as amplitude, frequency, energy, etc. These indicators are helpful for describing the actual physical meaning of the signal. Dimensionless indicators do not contain physical units and are generally used to describe the characteristics or relative changes of the signal, such as normalized signal strength and similarity. Dimensionless indicators are usually more general and suitable for comparison and pattern recognition.

[0061] Specifically, through this process, the raw data can be gradually processed from the initial collection stage into indicator data for analysis. These indicators can provide effective information support for applications such as signal analysis, fault detection, and pattern recognition.

[0062] S2: Perform wavelet transform on the signal data.

[0063] Among them, wavelet transform is a signal processing technology used to decompose signals into sub-signals of different frequencies, retaining both time information and frequency information. It can analyze local features in signals and is very effective for decomposition and feature extraction of complex signals.

[0064] It should be noted that through wavelet transform, the collected signal data is decomposed into multiple frequency sub-bands, and the local characteristics of the signal are effectively extracted. This method can capture important information hidden in the load signal and reduce data redundancy. Compared with the traditional Fourier transform, the wavelet transform is not only suitable for stationary signals, but also can analyze non-stationary signals. It is very suitable for load signal processing in complex mining environments.

[0065] S3: De-noising the transformed signal data.

[0066] Among them, the transformed signal data refers to the signal data after wavelet transform decomposition. These data have been separated into sub-bands of different frequencies, which is convenient for targeted removal of noise of specific frequencies. De-noising is a key step in signal processing, which is used to eliminate noise interference in the collected signal, retain the effective components in the signal, and ensure the accuracy of the analysis results.

[0067] It should be noted that by denoising the transformed signal data, the purity and reliability of the data can be significantly improved. By utilizing the multi-band characteristics after wavelet transform decomposition, the noise within a specific frequency range can be more accurately identified and eliminated without damaging the effective signal. This method is particularly suitable for signal processing in complex environments, and can significantly improve the accuracy of load assessment, reduce errors or misjudgments caused by noise interference, and provide high-quality basic data for subsequent signal reconstruction and load calculation.

[0068] S4: Determine the real-time value of the vehicle load through signal reconstruction based on the signal data obtained by denoising.

[0069] Among them, signal reconstruction refers to the process of recombining the processed signal data to restore or generate an approximate form of the original signal to extract the final target information. The real-time value of the vehicle load refers to the actual vehicle load calculated by the reconstructed signal at a certain moment, reflecting the dynamic load state of the vehicle during transportation.

[0070] It should be noted that through signal reconstruction technology, the real-time load value of the vehicle can be accurately restored by using the high-quality signal data after denoising. Compared with directly using the original data, the reconstructed load value can more truly reflect the vehicle's operating status and avoid the deviation caused by noise interference. This method combines the results of the previous signal processing and can dynamically and accurately monitor the vehicle load conditions, providing a reliable basis for real-time evaluation and anomaly detection.

[0071] In a possible implementation manner, the real-time value of the vehicle load is specifically:

[0072]

[0073] Among them, L irepresents the real-time value of the vehicle load at position i, A represents the load mark, μ represents the mean value of the signal data, Indicates the average amplitude of the absolute value of the signal data, X max represents the maximum value of the signal data, σ represents the standard deviation of the signal data, C represents the difference between the highest point and the lowest point of the signal, K represents the probability of a large amplitude pulse, I represents the pulse, S represents the waveform, and k 1 , k 2 , k 3 and k 4 Indicates the weights of different types of transported materials, i.e. ore types.

[0074] S5: Calculate the degree of deviation between the real-time value of the vehicle load and the general value, and determine the deviation value of the vehicle load.

[0075] Among them, the general value of the vehicle load refers to the average value of the vehicle load in multiple locations or time periods, which is used as a benchmark value for comparison with the real-time load to evaluate the degree of deviation of the vehicle load. The deviation value of the vehicle load refers to the difference between the real-time value of the vehicle load and its average value (or general value), which is used to quantify whether the load is in an abnormal state.

[0076] It should be noted that by calculating the deviation value of the vehicle load and determining whether it exceeds the preset threshold, it is helpful to identify abnormal load conditions in a timely manner. This method can quickly locate possible risks and avoid equipment damage or transportation accidents caused by overloading or unbalanced loading. At the same time, the judgment logic of this step is simple and efficient, easy to apply in real time, and can immediately trigger subsequent cause analysis and production adjustments when an abnormality occurs.

[0077] In a possible implementation manner, the deviation value of the vehicle load is specifically:

[0078]

[0079] Among them, L i represents the vehicle load deviation value at position i, L i represents the real-time value of the vehicle load at position i, represents the average value of the vehicle load at position i.

[0080] S6: Determine whether the deviation value of the vehicle load exceeds the deviation threshold; if so, determine the cause of the abnormal load and adjust the production operation in time; otherwise, include the real-time value as historical data in the calculation model of the general value, and return to S1 to continue monitoring.

[0081] Among them, the deviation threshold is a set standard value. When the deviation value exceeds the threshold, it indicates that the load may be abnormal and requires further analysis and processing. The production operation link refers to the optimization measures taken after the load anomaly is identified, such as equipment adjustment, road maintenance, etc.

[0082] It should be noted that through the modular design of the evaluation device, each link of load monitoring (such as collection, processing, calculation and judgment) is systematized and automated. This structured design improves the operating efficiency and maintainability of the system, enabling it to evaluate the load status in real time in complex mining environments. In addition, the multi-module collaborative work of the device can quickly respond to abnormal situations, combined with the dynamic adjustment function of production operations, significantly improving the safety and production efficiency of mine transportation.

[0083] In a possible implementation, the general value of the vehicle load is specifically:

[0084]

[0085] in, Indicates the general value of vehicle load, L i represents the real-time value of the vehicle load at position i, and n represents the total number of positions.

[0086] It should be noted that the deviation threshold of vehicle load is for specific vehicle components, such as suspension system connecting arms, frames, etc. The threshold of the deviation value is defined according to parameters such as design strength, and is used to determine whether the deviation value is reasonable. The deviation threshold is based on the finite element model and life calculation model of the components of concern, and is formulated by expert scoring.

[0087] In a possible implementation, timely adjusting the production operation includes: adjusting equipment, maintaining roads, material composition analysis and production planning adjustment.

[0088] Among them, adjusting equipment refers to the adjustment, repair or replacement of production equipment to ensure its normal operation and efficient production, maintaining roads refers to the maintenance of transportation roads used in the production process to ensure smooth transportation of materials, material composition analysis refers to the composition analysis of raw materials or materials used in the production process to ensure that they meet production requirements, and production planning adjustment refers to dynamic adjustments to production plans or processes to respond to changes in production or optimize production efficiency.

[0089] It should be noted that the introduction of regularization terms can effectively control the complexity of the model and avoid overfitting of the model during training. The regularization term usually penalizes the weight matrix, making the model more inclined to learn simple and general features rather than over-relying on noise or anomalies in the training data.

[0090] It should be noted that timely adjustment of production links can improve the stability, flexibility and efficiency of the production process, reduce costs, improve product quality, and enhance the competitiveness of enterprises.

[0091] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0092] In the present invention, the signal data of the vehicle is collected in real time through sensors and communication devices, and the signal data is subjected to wavelet transformation and denoising. The real-time value and deviation value of the vehicle load are determined through signal reconstruction. Based on the deviation value of the vehicle load, it is further determined whether the deviation value of the vehicle load exceeds the deviation threshold; if so, the cause of the abnormal load is determined, and the production operation link is adjusted in time; otherwise, the real-time value is included in the calculation model of the general value as historical data, and monitoring continues. The present invention monitors the load of unmanned mining vehicles and realizes real-time evaluation of the vehicle operation process through data processing methods. The invention is applicable to unmanned vehicles in different types of mines, can support a variety of mine management systems, and further improves the safety, reliability and efficiency of the unmanned vehicle operation process.

[0093] Reference Manual Attached Figure 3 , showing a schematic structural diagram of an open-pit mine unmanned vehicle load assessment device provided by the present invention.

[0094] The present invention further provides an evaluation device 20 for the load of an unmanned vehicle in an open-pit mine, which is applied to the above-mentioned evaluation method for the load of an unmanned vehicle in an open-pit mine. The evaluation device 20 for the load of an unmanned vehicle comprises:

[0095] The acquisition module 201 is used to acquire real-time vehicle load-related signal data.

[0096] The transformation module 202 is used to perform wavelet transformation on the signal data.

[0097] The denoising module 203 is used to perform denoising processing on the transformed signal data.

[0098] The reconstruction module 204 is used to determine the real-time value of the vehicle load through signal reconstruction based on the signal data obtained by denoising.

[0099] The calculation module 205 is used to calculate the degree of deviation between the real-time value of the vehicle load and the general value, and determine the deviation value of the vehicle load.

[0100] The judgment module 206 is used to judge whether the deviation value of the vehicle load exceeds the deviation threshold; if so, determine the cause of the abnormal load and adjust the production operation in time; otherwise, include the real-time value as historical data in the calculation model of the general value, and return to S1 to continue monitoring.

[0101] In a possible implementation manner, the real-time value of the vehicle load is specifically:

[0102]

[0103] Among them, L i represents the real-time value of the vehicle load at position i, A represents the load mark, μ represents the mean value of the signal data, Indicates the average amplitude of the absolute value of the signal data, X max represents the maximum value of the signal data, σ represents the standard deviation of the signal data, C represents the difference between the highest point and the lowest point of the signal, K represents the probability of a large amplitude pulse, I represents the pulse, S represents the waveform, and k 1 , k 2 , k 3 and k 4 Indicates the weights of different types of transported materials, i.e. ore types.

[0104] In a possible implementation manner, the deviation value of the vehicle load is specifically:

[0105]

[0106] Among them, L i represents the vehicle load deviation value at position i, L i represents the real-time value of the vehicle load at position i, represents the average value of the vehicle load at position i.

[0107] In a possible implementation, the general value of the vehicle load is specifically:

[0108]

[0109] in, Indicates the general value of vehicle load, L i represents the real-time value of the vehicle load at position i, and n represents the total number of positions.

[0110] In a possible implementation, timely adjusting the production operation includes: adjusting equipment, maintaining roads, material composition analysis and production planning adjustment.

[0111] The open-pit mine unmanned vehicle load assessment device 20 provided by the present invention can execute the above-mentioned open-pit mine unmanned vehicle load assessment method and achieve the same or similar technical effects. To avoid repetition, the present invention will not elaborate on them.

[0112] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0113] In the present invention, the signal data of the vehicle is collected in real time through sensors and communication devices, and the signal data is subjected to wavelet transformation and denoising. The real-time value and deviation value of the vehicle load are determined through signal reconstruction. Based on the deviation value of the vehicle load, it is further determined whether the deviation value of the vehicle load exceeds the deviation threshold; if so, the cause of the abnormal load is determined, and the production operation link is adjusted in time; otherwise, the real-time value is included in the calculation model of the general value as historical data, and monitoring continues. The present invention monitors the load of unmanned mining vehicles and realizes real-time evaluation of the vehicle operation process through data processing methods. The invention is applicable to unmanned vehicles in different types of mines, can support a variety of mine management systems, and further improves the safety, reliability and efficiency of the unmanned vehicle operation process.

[0114] It should be understood that the processor in the embodiment of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0115] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0116] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When a computer instruction or computer program is loaded or executed on a computer, a process or function according to an embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0117] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0118] In the present invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0119] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0120] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0121] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0122] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0123] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0124] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0125] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0126] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, a method for evaluating the load of an unmanned vehicle in an open-pit mine is implemented as described in the method embodiment.

[0127] A computer-readable storage medium provided by the present invention can implement the steps and effects of the method for evaluating the load of an unmanned vehicle in an open-pit mine in the above method embodiment. To avoid repetition, the present invention will not go into details.

[0128] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0129] In the present invention, the signal data of the vehicle is collected in real time through sensors and communication devices, and the signal data is subjected to wavelet transformation and denoising. The real-time value and deviation value of the vehicle load are determined through signal reconstruction. Based on the deviation value of the vehicle load, it is further determined whether the deviation value of the vehicle load exceeds the deviation threshold; if so, the cause of the abnormal load is determined, and the production operation link is adjusted in time; otherwise, the real-time value is included in the calculation model of the general value as historical data, and monitoring continues. The present invention monitors the load of unmanned mining vehicles and realizes real-time evaluation of the vehicle operation process through data processing methods. The invention is applicable to unmanned vehicles in different types of mines, can support a variety of mine management systems, and further improves the safety, reliability and efficiency of the unmanned vehicle operation process.

[0130] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0131] There are a few points to note:

[0132] (1) The drawings of the embodiments of the present invention only relate to the structures related to the embodiments of the present invention, and other structures may refer to the general design.

[0133] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present invention, the thickness of the layers or regions is exaggerated or reduced, that is, these drawings are not drawn according to the actual scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element or there may be intermediate elements.

[0134] (3) In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0135] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for evaluating the load of an unmanned vehicle in an open-pit mine, characterized in that: include: S1: Collect real-time vehicle load-related signal data; S2: performing wavelet transform on the signal data; S3: De-noising the transformed signal data; S4: Determine the real-time value of the vehicle load through signal reconstruction based on the signal data obtained by denoising; S5: Calculate the degree of deviation between the real-time value of the vehicle load and the general value, and determine the deviation value of the vehicle load; S6: Determine whether the deviation value of the vehicle load exceeds the deviation threshold; if so, determine the cause of the abnormal load and adjust the production operation in time; otherwise, include the real-time value as historical data in the calculation model of the general value, and return to S1 to continue monitoring.

2. The method for evaluating the load of an unmanned vehicle in an open-pit mine according to claim 1, characterized in that: The real-time value of the vehicle load is specifically: Among them, L i represents the real-time value of the vehicle load at position i, A represents the load mark, μ represents the mean value of the signal data, Represents the average amplitude of the absolute value of the signal data, X max represents the maximum value of the signal data, σ represents the standard deviation of the signal data, C represents the difference between the highest point and the lowest point of the signal, K represents the probability of a large amplitude pulse, I represents the pulse, S represents the waveform, k1, k2, k3 and k4 represent different types of transported materials, that is, the weights of the ore types.

3. The method for evaluating the load of an unmanned vehicle in an open-pit mine according to claim 1, characterized in that: The deviation value of the vehicle load is specifically: Among them, L i represents the vehicle load deviation value at position i, L i represents the real-time value of the vehicle load at position i, represents the average value of the vehicle load at position i.

4. The method for evaluating the load of an unmanned vehicle in an open-pit mine according to claim 1, characterized in that: The general values ​​of the vehicle load are specifically: in, Indicates the general value of vehicle load, L i represents the real-time value of the vehicle load at position i, and n represents the total number of positions.

5. The method for evaluating the load of an unmanned vehicle in an open-pit mine according to claim 1, characterized in that: The steps of timely adjusting production operations include: adjusting equipment, maintaining roads, material composition analysis and production plan adjustment.

6. An evaluation device for the load of unmanned vehicles in open-pit mines, characterized in that: The open-pit mine unmanned vehicle load assessment device comprises: An acquisition module, used to collect real-time vehicle load-related signal data; A transformation module, used for performing wavelet transformation on the signal data; A denoising module, used for denoising the transformed signal data; A reconstruction module, used to determine the real-time value of the vehicle load by signal reconstruction based on the signal data obtained by denoising; A calculation module, used to calculate the degree of deviation between the real-time value of the vehicle load and the general value, and determine the deviation value of the vehicle load; The judgment module is used to judge whether the deviation value of the vehicle load exceeds the deviation threshold; if so, determine the cause of the abnormal load and adjust the production operation in time; otherwise, include the real-time value as historical data in the calculation model of the general value, and return to S1 to continue monitoring.

7. The open-pit mine unmanned vehicle load assessment device according to claim 6, characterized in that: The real-time value of the vehicle load is specifically: Among them, L i represents the real-time value of the vehicle load at position i, A represents the load mark, μ represents the mean value of the signal data, Represents the average amplitude of the absolute value of the signal data, X max represents the maximum value of the signal data, σ represents the standard deviation of the signal data, C represents the difference between the highest point and the lowest point of the signal, K represents the probability of a large amplitude pulse, I represents the pulse, S represents the waveform, k1, k2, k3 and k4 represent different types of transported materials, that is, the weights of the ore types.

8. The open-pit mine unmanned vehicle load assessment device according to claim 6, characterized in that: The deviation value of the vehicle load is specifically: Among them, L i represents the vehicle load deviation value at position i, L i represents the real-time value of the vehicle load at position i, represents the average value of the vehicle load at position i.

9. The open-pit mine unmanned vehicle load assessment device according to claim 6, characterized in that: The general values ​​of the vehicle load are specifically: in, Indicates the general value of vehicle load, L i represents the real-time value of the vehicle load at position i, and n represents the total number of positions.

10. The open-pit mine unmanned vehicle load assessment device according to claim 6, characterized in that: The steps of timely adjusting production operations include: adjusting equipment, maintaining roads, material composition analysis and production plan adjustment.

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