Remote intelligent control system of mine unmanned equipment

Abstract

The invention discloses a remote intelligent control system for mine unmanned equipment, and particularly relates to the technical field of mine unmanned equipment, and the remote intelligent control system comprises an environment sensing modeling module which is used for collecting and processing mine environment data in real time to construct an accurate three-dimensional environment model. Mine environment data are collected and processed in real time through the environment sensing modeling module, an accurate three-dimensional environment model is constructed, basic data support is provided for intelligent decision making, an optimal decision making scheme is made based on environment information and task requirements through the intelligent decision making control module, intelligent operation is achieved, and the intelligent decision making efficiency is improved. A man-machine interaction interface is provided through the remote interaction monitoring module, remote real-time monitoring and operation are achieved, it is ensured that operators can intervene in time, and stable operation and emergency processing capacity of the system under various working conditions are ensured through multiple safety and redundancy design of the safety and reliability guarantee module.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned mine driving equipment, and in particular to a remote intelligent control system for unmanned mine driving equipment. Background Art

[0002] Remote intelligent control systems for unmanned mining equipment are a key technical support for the development of smart mines and are widely used in scenarios such as underground transportation, open-pit mine inspections, and operations in hazardous areas. Existing technologies primarily rely on 5G communication networks and multi-sensor fusion technology. They achieve device positioning through LiDAR point cloud modeling combined with visual SLAM algorithms, and utilize edge computing platforms for local path planning. These systems have already achieved large-scale application in areas such as remote scheduling of coal mine transport vehicles and collaborative operations with metal mine drilling equipment. With increasing mining depths and increasing operating environment complexity, the industry is placing higher demands on the control system's environmental modeling accuracy, real-time decision-making, and multimodal human-computer interaction capabilities.

[0003] However, existing systems are limited in environmental modeling dimensions. Traditional multi-camera vision systems can only construct two-dimensional semi-terrain models and lack the ability to dynamically monitor key parameters such as underground pipeline distribution and rock stress changes. This results in a 12% to 15% error rate in 3D scene reconstruction. Decision-making logic is rigid, and rule-based decision-making systems are unable to adapt to multi-device collaborative operation scenarios. Strategy generation delays exceed 3 seconds under unexpected conditions, resulting in low remote interaction efficiency. Existing HMI interfaces lack virtual-reality fusion visualization capabilities, and control command transmission is limited by network bandwidth fluctuations, resulting in a standard deviation of operation response time as high as ±1.8 seconds. Safety redundancy is insufficient, and traditional dual-machine hot standby solutions require 8 to 12 seconds to complete master-slave switching when equipment communication is interrupted. Furthermore, the system lacks a coordinated response mechanism for complex faults such as hydraulic system failure and sensor drift. Therefore, we propose a remote intelligent control system for unmanned mining equipment. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a remote intelligent control system for unmanned mining equipment.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A remote intelligent control system for unmanned mining equipment includes an environmental perception modeling module for real-time acquisition and processing of mining environmental data to construct an accurate three-dimensional environmental model; an intelligent decision-making control module for formulating optimal decision plans based on environmental information and task requirements and controlling equipment execution to achieve intelligent operations; a remote interactive monitoring module for providing a human-computer interaction interface to achieve remote real-time monitoring and operation; and a safety and reliability assurance module for ensuring the system's stable operation and emergency handling capabilities under various working conditions through multiple safety mechanisms and redundant designs.

[0007] The present invention is further configured such that: the environmental perception modeling module includes a multi-source sensor fusion module for integrating laser radar, camera, and millimeter wave radar data; a dynamic obstacle recognition module for real-time identification of moving vehicles, personnel, and equipment; a terrain feature extraction module for analyzing geological features such as ground slope and potholes; an environmental semantic understanding module for identifying specific signs, signals, and indications in the mining area; and a real-time map construction module for generating a high-precision three-dimensional environmental map;

[0008] The intelligent decision-making control module includes a task planning engine module for generating the optimal path according to the mining task, a dynamic obstacle avoidance strategy module for adjusting the route in real time to avoid obstacles, an energy consumption optimization control module for optimizing equipment operation to save energy, a potential early warning prompt module for emergency plans to deal with emergencies, and a collaborative operation scheduling module for task allocation and coordination among multiple devices.

[0009] The present invention is further configured as follows: the remote interactive monitoring module includes a panoramic visualization module for providing a 360-degree real-time environment view, a remote control interface module for allowing manual intervention control, an equipment status monitoring module for real-time monitoring of various equipment parameters, a potential early warning prompt module for timely issuing potential risk alerts, and a data recording and playback module for storing and replaying the operation process;

[0010] The safety and reliability assurance module includes a component multiple redundancy module for key component backup mechanism, a network security protection module for preventing the system from being illegally invaded, a fault self-diagnosis module for automatically detecting and locating system faults, an emergency braking module for rapid response in emergency situations, and an environmental adaptability testing module for ensuring the reliability of the equipment under various conditions.

[0011] The present invention is further configured as follows: the remote control interface module includes a user identity authentication module for verifying the identity of the operator to ensure system security, an authority level management module for allocating different operation levels according to user authority, an instruction receiving and parsing module for receiving and parsing remote control instructions, an operation mode determination module for selecting three operation modes: automatic mode module, semi-automatic mode module and manual mode module according to the environment and terrain, a real-time data transmission module for ensuring real-time transmission of control instructions and feedback data, an operation feedback display module for visualizing the device status and operation results, and an abnormal interruption processing module for handling abnormal situations during the operation process.

[0012] The present invention is further configured as follows: the user identity authentication module provides a legitimate user authority basis for authority level management by verifying the identity of the operator; the authority level management module provides corresponding instruction processing authority for the instruction receiving and parsing module by allocating different operation levels; the instruction receiving and parsing module provides clear execution instructions for the operation mode determination module by parsing remote control instructions; and the operation mode determination module provides a control strategy for the real-time data transmission module by selecting an operation mode.

[0013] The present invention is further configured as follows: the real-time data transmission module provides real-time status information to the operation feedback display module by transmitting control instructions and feedback data; the operation feedback display module provides necessary monitoring data to the interrupt processing module by visualizing the device status; the abnormal interrupt processing module provides system security feedback to the user identity authentication module by processing operation abnormalities, forming a closed-loop management.

[0014] The present invention is further configured as follows: the multi-source sensor fusion module provides comprehensive environmental perception information for the dynamic obstacle recognition module by integrating multiple sensor data; the dynamic obstacle recognition module provides dynamic environmental data for the terrain feature extraction module by identifying moving objects; the terrain feature extraction module provides terrain information for the environmental semantic understanding module by analyzing geological features; and the environmental semantic understanding module provides semantic information for the real-time map construction module by identifying specific signs of the mining area.

[0015] The present invention is further configured as follows: the task planning engine module provides basic path planning for the dynamic obstacle avoidance strategy module by generating an optimal path; the dynamic obstacle avoidance strategy module provides path information after obstacle avoidance for the energy consumption optimization control module by adjusting the route in real time; the energy consumption optimization control module provides energy consumption status data for the potential early warning prompt module by optimizing equipment operation; and the potential early warning prompt module provides emergency processing suggestions for the collaborative operation scheduling module by responding to emergencies.

[0016] The present invention is further configured as follows: the panoramic visualization module provides environmental visualization information to the remote control interface module by providing a 360-degree real-time view; the remote control interface module provides operation instructions to the equipment status monitoring module by allowing manual intervention control; the equipment status monitoring module provides real-time status data to the potential early warning prompt module by monitoring equipment parameters; the potential early warning prompt module provides early warning event records to the data recording and playback module by issuing risk alarms.

[0017] The present invention is further configured as follows: the component multiple redundancy module provides hardware security protection for the network security protection module by backing up key components; the network security protection module provides a network security environment for the fault self-diagnosis module by preventing illegal intrusion; the fault self-diagnosis module provides fault information for the emergency braking module by detecting system faults; the emergency braking module provides emergency processing data for the environmental adaptability testing module by quickly responding to emergency situations.

[0018] The beneficial effects of the present invention are:

[0019] The present invention uses the environmental perception modeling module to collect and process mine environmental data in real time, construct an accurate three-dimensional environmental model, and provide basic data support for intelligent decision-making. The intelligent decision-making control module formulates the optimal decision-making plan based on environmental information and task requirements to realize intelligent operation. The remote interactive monitoring module provides a human-computer interaction interface to realize remote real-time monitoring and operation, ensuring that operators can intervene in time. The multiple safety and redundant design of the safety and reliability protection module ensures the stable operation and emergency handling capabilities of the system under various working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the remote intelligent control system module of the mine unmanned equipment in the present invention.

[0021] Figure 2 This is a schematic diagram of the remote control interface module in the remote intelligent control system of the unmanned mining equipment in the present invention. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0023] Example 1

[0024] like Figure 1 As shown, a remote intelligent control system for unmanned mining equipment includes an environmental perception modeling module for real-time acquisition and processing of mining environmental data to construct an accurate three-dimensional environmental model; an intelligent decision-making control module for formulating optimal decision plans based on environmental information and task requirements and controlling equipment execution to achieve intelligent operations; a remote interactive monitoring module for providing a human-machine interactive interface to achieve remote real-time monitoring and operation; and a safety and reliability assurance module for ensuring the system's stable operation and emergency response capabilities under various working conditions through multiple safety mechanisms and redundant designs.

[0025] The environmental perception modeling module includes a multi-source sensor fusion module for integrating lidar, camera, and millimeter-wave radar data, a dynamic obstacle recognition module for real-time identification of moving vehicles, personnel, and equipment, a terrain feature extraction module for analyzing geological features such as ground slope and potholes, an environmental semantic understanding module for identifying specific signs, signals, and instructions in the mining area, and a real-time map construction module for generating high-precision three-dimensional environmental maps.

[0026] The intelligent decision-making control module includes a task planning engine module for generating an optimal path based on the mining task, a dynamic obstacle avoidance strategy module for adjusting the route in real time to avoid obstacles, an energy consumption optimization control module for optimizing equipment operation to save energy, a potential early warning prompt module for emergency response plans, and a collaborative operation scheduling module for task allocation and coordination among multiple devices;

[0027] The remote interactive monitoring module includes a panoramic visualization module for providing a 360-degree real-time environment view, a remote control interface module for allowing manual intervention control, an equipment status monitoring module for real-time monitoring of various equipment parameters, a potential early warning prompt module for timely issuing potential risk alerts, and a data recording and playback module for storing and replaying the operation process;

[0028] The safety and reliability assurance module includes a component multi-redundancy module for key component backup mechanism, a network security protection module for preventing the system from being illegally intruded, a fault self-diagnosis module for automatically detecting and locating system faults, an emergency braking module for rapid response in emergency situations, and an environmental adaptability testing module for ensuring the reliability of the equipment under various conditions;

[0029] The multi-source sensor fusion module integrates data from multiple sensors to provide comprehensive environmental perception information to the dynamic obstacle recognition module. The dynamic obstacle recognition module identifies moving objects and provides dynamic environmental data to the terrain feature extraction module. The terrain feature extraction module analyzes geological features and provides terrain information to the environmental semantic understanding module. The environmental semantic understanding module identifies specific mining area landmarks and provides semantic information to the real-time map construction module.

[0030] The task planning engine module provides basic path planning for the dynamic obstacle avoidance strategy module by generating the optimal path; the dynamic obstacle avoidance strategy module provides the energy consumption optimization control module with path information after obstacle avoidance by adjusting the route in real time; the energy consumption optimization control module provides energy consumption status data for the potential warning prompt module by optimizing equipment operation; the potential warning prompt module provides emergency treatment suggestions for the collaborative operation scheduling module by responding to emergencies;

[0031] The panoramic visualization module provides environmental visualization information to the remote control interface module by providing a 360-degree real-time view; the remote control interface module provides operating instructions to the equipment status monitoring module by allowing manual intervention control; the equipment status monitoring module provides real-time status data to the potential warning prompt module by monitoring equipment parameters; the potential warning prompt module provides warning event records to the data recording and playback module by issuing risk alerts;

[0032] The component multiple redundancy module provides hardware security protection for the network security protection module by backing up key components; the network security protection module provides a network security environment for the fault self-diagnosis module by preventing illegal intrusion; the fault self-diagnosis module provides fault information for the emergency braking module by detecting system faults; the emergency braking module provides emergency processing data for the environmental adaptability testing module by quickly responding to emergency situations.

[0033] In the above embodiment, the multi-source sensor fusion module in the perception modeling module integrates data from lidar, cameras, millimeter-wave radar, etc., dynamic obstacle recognition identifies moving vehicles, personnel and equipment in real time, the terrain feature extraction module analyzes geological features such as ground slope and potholes, and the environmental semantic understanding module identifies specific signs. Finally, the real-time map construction module generates a high-precision three-dimensional environmental map. The intelligent decision-making control module optimizes the mining task according to the optimal path, the dynamic obstacle avoidance strategy module adjusts the route in real time to avoid obstacles, the energy consumption optimization control module operates the equipment to save energy, the potential early warning prompt module responds to emergencies, the collaborative operation scheduling module coordinates task allocation among multiple devices, remote interactive monitoring provides a 360-degree real-time environmental view through the panoramic visualization module, the remote control interface module allows manual intervention control, the equipment status monitoring module monitors equipment parameters in real time, the potential early warning prompt module issues risk alerts in a timely manner, and the data recording and playback module stores and replays the operation process.

[0034] Example 2

[0035] like Figure 1-2 As shown, a remote intelligent control system for unmanned mining equipment, the remote control interface module includes a user authentication module for verifying the identity of the operator to ensure system security, an authority level management module for assigning different operation levels according to user authority, a command receiving and parsing module for receiving and parsing remote control commands, an operation mode determination module for selecting three operation modes: automatic mode module, semi-automatic mode module, and manual mode module according to the environment and terrain, a real-time data transmission module for ensuring real-time transmission of control commands and feedback data, an operation feedback display module for visualizing equipment status and operation results, and an abnormal interruption processing module for handling abnormal situations during operation;

[0036] The user identity authentication module verifies the identity of the operator and provides a legitimate user authority basis for authority level management; the authority level management module assigns different operation levels to the instruction receiving and parsing module to provide corresponding instruction processing authority; the instruction receiving and parsing module parses the remote control instructions to provide clear execution instructions to the operation mode determination module; the operation mode determination module provides a control strategy for the real-time data transmission module by selecting an operation mode;

[0037] The real-time data transmission module provides real-time status information to the operation feedback display module by transmitting control instructions and feedback data; the operation feedback display module provides necessary monitoring data to the interrupt processing module by visualizing the device status; the abnormal interrupt processing module provides system security feedback to the user identity authentication module by processing operation exceptions, forming a closed-loop management.

[0038] In the above embodiment, the operator's identity is verified by the user identity authentication module to ensure system security. Then, the authority level management module assigns different operation levels according to user authority. The instruction receiving and parsing module receives and parses the remote control instructions. The operation mode determination module selects the automatic mode, semi-automatic mode or manual mode according to the environmental terrain. The real-time data transmission module ensures the real-time transmission of control instructions and feedback data. The operation feedback display module visualizes the device status and operation results. The abnormal interruption processing module handles abnormal situations during the operation and returns system security feedback to the user identity authentication module to form a closed-loop management.

[0039] Among them, the operation mode determination module receives the operation mode selection instruction, analyzes the current environment and device status, makes mode determination according to preset rules, enters the corresponding branch processing flow, monitors the mode execution status in real time, and switches the mode when necessary.

[0040] Working principle: When in use, the present invention realizes real-time perception and modeling of the mining environment through the environmental perception modeling module. The module integrates multi-source sensor data such as lidar, camera, millimeter-wave radar, dynamically moves obstacles such as vehicles, personnel and equipment, analyzes geological features such as ground slope and potholes, and identifies specific signs, signals and instructions in the mining area, and finally generates a high-precision three-dimensional environmental map. These environmental information provides basic data support for subsequent intelligent decision-making and remote control.

[0041] The intelligent decision-making control module formulates the optimal decision plan based on environmental information and task requirements. This module generates the optimal path through the task planning engine. The dynamic obstacle avoidance strategy adjusts the route in real time to avoid obstacles. The energy consumption optimization control module optimizes equipment operation and energy. The potential early warning prompt module responds to emergencies. The collaborative operation scheduling module coordinates the task allocation and execution among multiple devices. These functions together ensure the intelligent operation capability of the equipment in complex environments.

[0042] In terms of remote control, the remote interactive monitoring module has a human-machine interface, remote real-time monitoring and operation, the panoramic visualization module provides a 360-degree real-time environment view, the remote control interface module provides manual intervention control, the equipment status monitoring module monitors the various parameters of the equipment in real time, the potential early warning prompt module issues risk alerts in time, and the data recording and playback module stores and replays the operation process. These functions enable the operator to remotely monitor the real-time equipment status and make necessary interventions.

[0043] The safety and reliability assurance module ensures the stable operation and emergency handling capabilities of the system under various working conditions through multiple safety mechanisms and redundant designs. The multiple redundant modules provide backup for key components, the network security protection module prevents the system from being illegally invaded, the fault self-diagnosis module automatically detects and locates the system, the emergency braking module responds quickly in emergency situations, and the environmental adaptability test module tests the reliability of the equipment under various conditions. These safety mechanisms together constitute the closed-loop management of the system, ensuring the safe, stable and efficient operation of unmanned driving in mines.

[0044] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A remote intelligent control system for unmanned mining equipment, characterized in that: It includes an environmental perception modeling module for real-time collection and processing of mining environmental data to build an accurate three-dimensional environmental model, an intelligent decision-making control module for formulating optimal decision plans based on environmental information and task requirements and controlling equipment execution to achieve intelligent operations, a remote interactive monitoring module for providing a human-computer interaction interface to achieve remote real-time monitoring and operation, and a safety and reliability assurance module for ensuring the system's stable operation and emergency handling capabilities under various working conditions through multiple safety mechanisms and redundant designs.

2. The remote intelligent control system for unmanned mining equipment according to claim 1, characterized in that: The environmental perception modeling module includes a multi-source sensor fusion module for integrating lidar, camera, and millimeter-wave radar data, a dynamic obstacle recognition module for real-time identification of moving vehicles, personnel, and equipment, a terrain feature extraction module for analyzing geological features such as ground slope and potholes, an environmental semantic understanding module for identifying specific signs, signals, and instructions in the mining area, and a real-time map construction module for generating high-precision three-dimensional environmental maps. The intelligent decision-making control module includes a task planning engine module for generating the optimal path according to the mining task, a dynamic obstacle avoidance strategy module for adjusting the route in real time to avoid obstacles, an energy consumption optimization control module for optimizing equipment operation to save energy, a potential early warning prompt module for emergency plans to deal with emergencies, and a collaborative operation scheduling module for task allocation and coordination among multiple devices.

3. The remote intelligent control system for unmanned mining equipment according to claim 1, characterized in that: The remote interactive monitoring module includes a panoramic visualization module for providing a 360-degree real-time environment view, a remote control interface module for allowing manual intervention control, an equipment status monitoring module for real-time monitoring of various equipment parameters, a potential early warning prompt module for timely issuing potential risk alerts, and a data recording and playback module for storing and replaying the operation process; The safety and reliability assurance module includes a component multiple redundancy module for key component backup mechanism, a network security protection module for preventing the system from being illegally invaded, a fault self-diagnosis module for automatically detecting and locating system faults, an emergency braking module for rapid response in emergency situations, and an environmental adaptability testing module for ensuring the reliability of the equipment under various conditions.

4. The remote intelligent control system for unmanned mine equipment according to claim 3, characterized in that: The remote control interface module includes a user authentication module for verifying the identity of the operator to ensure system security, an authority level management module for allocating different operation levels according to user authority, an instruction receiving and parsing module for receiving and parsing remote control instructions, an operation mode determination module for selecting three operation modes: automatic mode module, semi-automatic mode module and manual mode module according to the environment and terrain, a real-time data transmission module for ensuring real-time transmission of control instructions and feedback data, an operation feedback display module for visualizing equipment status and operation results, and an abnormal interruption processing module for handling abnormal situations during the operation process.

5. The remote intelligent control system for unmanned mining equipment according to claim 4, characterized in that: The user identity authentication module provides a legitimate user authority basis for authority level management by verifying the identity of the operator; the authority level management module provides corresponding instruction processing authority for the instruction receiving and parsing module by assigning different operation levels; the instruction receiving and parsing module provides clear execution instructions for the operation mode determination module by parsing remote control instructions; the operation mode determination module provides a control strategy for the real-time data transmission module by selecting the operation mode.

6. The remote intelligent control system for unmanned mine equipment according to claim 5, characterized in that: The real-time data transmission module provides real-time status information to the operation feedback display module by transmitting control instructions and feedback data; the operation feedback display module provides necessary monitoring data to the interrupt processing module by visualizing the device status; the abnormal interrupt processing module provides system security feedback to the user identity authentication module by processing operation exceptions, forming a closed-loop management.

7. The remote intelligent control system for unmanned mining equipment according to claim 2, characterized in that: The multi-source sensor fusion module provides comprehensive environmental perception information for the dynamic obstacle recognition module by integrating data from multiple sensors; the dynamic obstacle recognition module provides dynamic environmental data for the terrain feature extraction module by identifying moving objects; the terrain feature extraction module provides terrain information for the environmental semantic understanding module by analyzing geological features; and the environmental semantic understanding module provides semantic information for the real-time map construction module by identifying specific signs in the mining area.

8. The remote intelligent control system for unmanned mine equipment according to claim 2, characterized in that: The task planning engine module provides basic path planning for the dynamic obstacle avoidance strategy module by generating the optimal path; the dynamic obstacle avoidance strategy module provides the energy consumption optimization control module with the path information after obstacle avoidance by adjusting the route in real time; the energy consumption optimization control module provides energy consumption status data for the potential early warning prompt module by optimizing equipment operation; the potential early warning prompt module provides emergency processing suggestions for the collaborative operation scheduling module by responding to emergencies.

9. The remote intelligent control system for unmanned mining equipment according to claim 3, characterized in that: The panoramic visualization module provides environmental visualization information to the remote control interface module by providing a 360-degree real-time view; the remote control interface module provides operating instructions to the equipment status monitoring module by allowing manual intervention control; the equipment status monitoring module provides real-time status data to the potential early warning prompt module by monitoring equipment parameters; the potential early warning prompt module provides early warning event records to the data recording and playback module by issuing risk alerts.

10. The remote intelligent control system for unmanned mine equipment according to claim 3, characterized in that: The component multiple redundancy module provides hardware security protection for the network security protection module by backing up key components; the network security protection module provides a network security environment for the fault self-diagnosis module by preventing illegal intrusion; the fault self-diagnosis module provides fault information for the emergency braking module by detecting system faults; the emergency braking module provides emergency processing data for the environmental adaptability testing module by quickly responding to emergency situations.

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