An underground electric locomotive transportation method and system

Abstract

The present application relates to a method and system for underground locomotive transportation, belonging to the technical field of underground locomotive transportation. The transportation method includes receiving a transportation instruction and a pre-planned transportation route; based on the transportation instruction, performing transportation according to the transportation route; and then sending location information. When a locomotive fails, the main controller determines the current location of the locomotive based on the received location information, and based on the current location of the locomotive, dispatches a detour instruction and a detour route to the locomotive to be detoured, where the locomotive to be detoured is the locomotive that needs to pass through the current location of the locomotive subsequently; receiving the detour instruction and the detour route; and then based on the detour instruction, the detoured locomotive performs transportation according to the detour route. Since it is not necessary for the locomotive to be detoured, that is, the locomotive that needs to pass through the current location of the locomotive subsequently, to stop, the overall ore transportation efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of underground locomotive transportation, and in particular to an underground locomotive transportation method and system. Background Art

[0002] At present, the transportation operation process at the mine site is as follows: Ore falls into the trench, and the ore in the stope is transported by a loader to each stope ore pass. The ore is poured into each stratified ore pass, and the ore in the ore pass is loaded into a mine car through a vibrating ore drawing machine. The mine car is towed by a locomotive to the main ore pass for unloading, and after being crushed, it is hoisted to the surface through the main ore pass. Since there are multiple ore passes, there are also multiple corresponding transportation tracks from the ore pass to the main ore pass; after a locomotive on a certain transportation track fails, the locomotives sharing the transportation track will stop running under the operation of the staff until the faulty locomotive resumes operation, and then the subsequent locomotives will move, resulting in a low overall ore transportation efficiency. Summary of the Invention

[0003] In order to improve the overall ore transportation efficiency, this application provides an underground locomotive transportation method and system.

[0004] In a first aspect, an underground locomotive transportation method provided by this application adopts the following technical solution:

[0005] An underground locomotive transportation method, with the locomotive side as the execution main body, includes:

[0006] Receiving a transportation instruction;

[0007] Receiving a pre-planned transportation route;

[0008] Transporting according to the transportation route based on the transportation instruction;

[0009] Sending location information; when a locomotive fails, the main controller determines the current location of the locomotive based on the received location information, and based on the current location of the locomotive, dispatches a detour instruction and a detour route to the locomotive to be detoured, where the locomotive to be detoured is the locomotive that needs to pass through the current location of the locomotive subsequently;

[0010] Receiving the detour instruction and the detour route;

[0011] Based on the detour instruction, the locomotive to be detoured transports according to the detour route.

[0012] By adopting the above technical solutions, when the battery locomotive is in transportation, the battery locomotive receives the transportation instructions and the assigned transportation route sent by the main controller, and then automatically transports according to the transportation route. On the one hand, it can reduce labor costs, and on the other hand, it can reduce the occurrence of accidents and improve transportation safety. During the transportation process of the battery locomotive, it will send location information to the main controller. The main controller receives the location information and, when the battery locomotive breaks down, determines the current location of the battery locomotive, and then sends a detour instruction and a detour route to the battery locomotive to be detoured. After receiving the detour instruction, the battery locomotive to be detoured transports according to the planned detour route. Since it is not necessary to stop the battery locomotive to be detoured, the overall ore transportation efficiency is improved.

[0013] Optionally, the receiving of the pre-planned transportation route includes:

[0014] The main controller obtains the number of each track based on the pre-constructed transportation route map;

[0015] After the main controller obtains the transportation route, it distributes the transportation route to the corresponding battery locomotive; wherein, the transportation route is composed of a combination of track numbers.

[0016] By adopting the above technical solutions, after the main controller constructs the transportation route map, according to the number of each track input by the management personnel, the number of each track is obtained; then, according to the combination of the track numbers by the management personnel, the transportation route corresponding to each battery locomotive is obtained, and then the transportation route is distributed to the corresponding battery locomotive, so that the battery locomotive can automatically drive according to the transportation route; in this way, the combination method is clear and diverse, and can cope with various transportation situations.

[0017] Optionally, the steps of determining that the battery locomotive has a fault include:

[0018] Collect the first image information before and after the battery locomotive;

[0019] Send the first image information;

[0020] The main controller receives the first image information and determines whether the environmental information contained in the first image information is the environmental information at the ore discharge chute. If not, it determines whether the environmental information contained in the first image information changes within a preset time threshold. If not, it determines that the battery locomotive has a fault.

[0021] By adopting the above technical solution, the main controller receives the first image information collected from the battery locomotive, and determines whether the environmental information contained in the first image information is the environmental information at the ore-discharging chute, so as to determine whether the battery locomotive is at the ore-discharging chute. If so, it means that although the battery locomotive has stopped, it is in the process of loading ore at this time, so it is not a fault; if not, then it is further determined whether the environmental information contained in the first image information has changed within the duration threshold. Because it is possible that the battery locomotive encounters a gate or traffic lights and stops briefly, so if the environmental information has not changed, it is determined that the battery locomotive has a fault. By this method, it is more accurate to judge whether the battery locomotive has a fault.

[0022] Optionally, the steps after determining that the battery locomotive has a fault include:

[0023] The main controller judges the type of fault to which the fault belongs. Among them, the types of faults include technical faults and non-technical faults;

[0024] If the fault belongs to a technical fault, the main controller retrieves the information of maintenance personnel in the preset maintenance database, and judges whether the number of idle personnel among the maintenance personnel is greater than 1. If so, a maintenance instruction is dispatched to the maintenance personnel with a high score and idle. If not, a maintenance instruction is directly dispatched to the idle maintenance personnel;

[0025] If the fault belongs to a non-technical fault, the main controller retrieves the information of underground workers in the preset work information database, and judges whether the number of idle personnel among the underground workers is greater than 1. If so, based on the location information of the underground workers and the current location of the battery locomotive, a maintenance instruction is dispatched to the nearest underground worker. If not, a maintenance instruction is directly dispatched to the idle underground worker.

[0026] By adopting the above technical solution, by classifying the faults, technical faults are repaired by professional maintenance personnel, and non-technical faults can be handled by underground workers, so as to rationally apply resources and improve the maintenance efficiency.

[0027] Optionally, the steps before dispatching the detour route include:

[0028] The main controller judges whether the number of battery locomotives on the detour route is above the preset quantity threshold. If so, the detour route is dynamically adjusted. If not, the corresponding detour route in the preset detour database is retrieved.

[0029] By adopting the above technical solution, if there are a large number of locomotives on the detour route, the locomotive to be detoured will detour to this route, and the transportation speed is very likely to decrease, which is also likely to cause transportation accidents and reduce the transportation efficiency. Therefore, it is necessary to dynamically adjust the detour route. If there are fewer locomotives on the detour route, the locomotive to be detoured can detour to this route.

[0030] Optionally, the transportation method further includes:

[0031] Judge whether the locomotive is about to enter a curve or an intersection. If so, broadcast a safety reminder message.

[0032] By adopting the above technical solution, when the locomotive enters a curve or an intersection, a safety reminder message is broadcast, so as to remind the underground workers at the curve or intersection to avoid safety accidents.

[0033] Optionally, the judgment of whether it is about to enter a curve or an intersection includes:

[0034] Obtain the distance between the position of the locomotive and the position of the curve or intersection;

[0035] Judge whether the distance is less than a preset safety distance. If so, determine that the locomotive is about to enter a curve or an intersection;

[0036] And / or

[0037] Obtain the speed information of the locomotive during transportation;

[0038] Judge whether the speed value in the speed information is less than the normal driving speed value. If so, obtain the second image information;

[0039] Judge whether the characteristics of a curve or an intersection appear in the second image information. If so, determine that the locomotive is about to enter a curve or an intersection.

[0040] In a second aspect, the present application provides an underground locomotive transportation system, adopting the following technical solution:

[0041] An underground locomotive transportation system includes:

[0042] A locomotive;

[0043] A sub-controller, installed in the locomotive, for controlling the driving of the locomotive;

[0044] A main controller, installed in the main control room, wirelessly connected to the sub-controller, for dispatching instructions and routes;

[0045] Wherein, the sub-controller includes:

[0046] An instruction receiving module, configured to receive a transportation instruction and a detour instruction;

[0047] A route receiving module, configured to receive a pre-planned transportation route and a detour route;

[0048] A control module, based on the transportation instruction, controls the battery locomotive to perform transportation according to the transportation route, and based on the detour instruction, controls the battery locomotive to be detoured to perform transportation according to the detour route;

[0049] A position sending module, configured to send position information;

[0050] The main controller includes:

[0051] A position receiving module, configured to receive the position information and determine the current position of the battery locomotive when a failure occurs to the battery locomotive;

[0052] An instruction dispatching module, configured to dispatch the detour instruction;

[0053] A detour route dispatching module, configured to dispatch the detour route to the battery locomotive to be detoured, where the battery locomotive to be detoured is a battery locomotive that needs to pass through the current position of the battery locomotive subsequently.

[0054] By adopting the above technical solution, during the transportation of the battery locomotive, the instruction receiving module receives the transportation instruction sent by the main controller, the route receiving module receives the dispatched transportation route, and then the control module controls the battery locomotive to automatically perform transportation according to the transportation route. On the one hand, it can reduce the labor cost, and on the other hand, it can reduce the occurrence of accidents and improve the transportation safety; during the transportation process of the battery locomotive, the position sending module sends the position information to the position receiving module. When a failure occurs to the battery locomotive, the position receiving module determines the current position of the battery locomotive, and then the instruction dispatching module dispatches the detour instruction to the instruction receiving module, and the detour route dispatching module dispatches the detour route to the route receiving module, so that the control module controls the battery locomotive to be detoured to perform transportation according to the planned detour route; since it is not necessary to stop the subsequent battery locomotive, the overall ore transportation efficiency is improved.

[0055] In summary, the present application has at least the following beneficial effects:

[0056] 1. When a failure occurs to the battery locomotive, the subsequent battery locomotive receives the detour instruction and the detour route, and performs transportation according to the detour route, so that it is not necessary to stop, and thus the overall ore transportation efficiency is improved.

[0057] 2. By judging the type of the failure, the maintenance instruction is dispatched to different personnel according to the type of the failure, so that the resources are rationally applied, and the maintenance efficiency can be improved.

[0058] 3. By judging whether to dynamically adjust the detour route or follow a preset detour route according to the number of locomotives on the detour route, the transportation efficiency can be improved and the occurrence of transportation accidents can be reduced. Description of the Drawings

[0059] Figure 1 is a flowchart of an implementation manner of Embodiment 1 of the method of the present application;

[0060] Figure 2 is Figure 1 a flowchart of the specific steps in S120 in

[0061] Figure 3 is a flowchart for determining that a locomotive has a fault;

[0062] Figure 4 is a flowchart for judging the type of fault;

[0063] Figure 5 is a flowchart of another implementation manner of Embodiment of the method of the present application;

[0064] Figure 6 is a flowchart of another implementation manner of Embodiment of the method of the present application;

[0065] Figure 7 is a structural block diagram of an implementation manner of Embodiment 1 of the system of the present application;

[0066] Figure 8 is a structural block diagram of another implementation manner of the sub-controller;

[0067] Figure 9 is a structural block diagram of another implementation manner of the sub-controller.

[0068] Description of the Reference Numerals: 100, locomotive; 110, sub-controller; 111, instruction receiving module; 112, route receiving module; 113, control module; 114, position sending module; 115, image sending module; 116, distance obtaining module; 117, distance judging module; 118, speed judging module; 119, image judging module; 120, image acquisition module; 130, speed information obtaining module; 140, voice broadcast module; 200, main controller; 201, position receiving module; 202, instruction dispatching module; 203, detour route dispatching module; 204, number obtaining module; 205, transportation route dispatching module; 206, image receiving module; 207, first judging module; 208, second judging module; 209, information retrieval module; 210, third judging module; 211, fourth judging module; 212, detour route adjustment module. Detailed Embodiments

[0069] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will describe the technical solutions in the embodiments of the present invention in conjunction with the attached Figure 1 - attached Figure 9 , and clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0070] An embodiment of the present application discloses a method for transporting underground locomotives. Referring to Figure 1 , as an implementation of this transportation method, with the locomotive side as the execution entity, this transportation method may include steps S110 - S160:

[0071] S110, receive a transportation instruction;

[0072] Specifically, the transportation instruction is dispatched by the main controller, which can be an industrial control computer and is set in the general control room. When transporting ore, the staff in the general control room clicks the start button on the main controller, and the main controller dispatches the transportation instruction to the sub - controller on the locomotive.

[0073] S120, receive a pre - planned transportation route;

[0074] S130, transport according to the transportation route based on the transportation instruction;

[0075] S140, send location information; when a locomotive breaks down, the main controller determines the current location of the locomotive based on the received location information, and based on the current location of the locomotive, dispatches a detour instruction and a detour route to the locomotive to be detoured, where the locomotive to be detoured is the locomotive that needs to pass through the current location of the locomotive in the future;

[0076] S150, receive the detour instruction and the detour route;

[0077] S160, the subsequent locomotive transports according to the detour route based on the detour instruction.

[0078] Referring to Figure 2 , step S120 may specifically include S121 - S122:

[0079] S121, the main controller obtains the number of each track based on the pre - constructed transportation route map;

[0080] Specifically, the staff member draws a downhole transportation route map on the main controller, then numbers each track in the transportation route map, and then, according to the positions of the main ore pass and the ore-drawing ore pass, combines and correlates the numbers of the tracks between the ore-drawing ore pass and the main ore pass. The main controller will generate a corresponding transportation route according to the associated track numbers. Among them, there are no restrictions on the numbering rules. For example, it can be sorted according to natural numbers from small to large. For example, there are four tracks with numbers 1, 2, 3, and 4 respectively; then the transportation routes can be 1234, 134, 1342, 1324, etc.

[0081] S122, after the main controller obtains the transportation route, dispatch the transportation route to the corresponding locomotive; among them, the transportation route is composed of a combination of track numbers.

[0082] Specifically, after the main control generates the transportation route, dispatch the transportation route to the sub-controllers of different locomotives; for example, dispatch the transportation route 1234 to locomotive No. 1, dispatch the transportation route 134 to locomotive No. 2, etc.; the numbers of the locomotives are pre-stored in the main controller, and after the transportation route is generated, the transportation route is associated with the locomotive numbers.

[0083] Refer to Figure 3 , the steps for judging that a locomotive has a fault may include S210 - S230:

[0084] S210, collect the first image information before and after the locomotive;

[0085] Specifically, install cameras before and after the locomotive, and the cameras can be 360° high-definition cameras.

[0086] S220, send the first image information;

[0087] Specifically, after the camera collects the first image information, transmit the first image information to the sub-controller, and then the sub-controller transmits the first image information to the main controller.

[0088] S230, the main controller receives the first image information, judges whether the environmental information contained in the first image information is the environmental information at the ore-drawing ore pass. If not, then judges whether the environmental information contained in the first image information changes within a preset duration threshold. If not, it is determined that the locomotive has a fault.

[0089] Specifically, the main control uses an image recognition algorithm to identify whether there are ore-drawing ore pass features in the image, and uses an image recognition algorithm to identify whether the environmental information in the image changes. The image recognition algorithm is a conventional image recognition algorithm, which is not limited as long as it can realize the recognition of features in the image.

[0090] Refer to Figure 4, after step S230, steps S240 - S260 can also be executed:

[0091] S240, the main controller determines the type of fault to which the fault belongs. Among them, the fault types include technical faults and non - technical faults;

[0092] Specifically, the manifestation of a fault in the electric locomotive is that the electric locomotive stops running; technical faults can be faults that occur in the electric locomotive itself, such as internal network communication faults, short - circuits, etc. in the electric locomotive; non - technical faults can be derailment, falling rocks on the front track, etc.

[0093] S250, if the fault belongs to a technical fault, the main controller retrieves the information of maintenance personnel in the preset maintenance database and determines whether the number of idle maintenance personnel is greater than 1. If so, a maintenance instruction is dispatched to the maintenance personnel with a high score and who is idle. If not, a maintenance instruction is directly dispatched to the idle maintenance personnel;

[0094] Among them, the information of maintenance personnel includes the mobile phone number, name, score value, status information, etc. of the maintenance personnel; the status information is obtained by the main controller in real - time. The main controller can judge whether a maintenance personnel is idle according to the status information; when the maintenance personnel is in maintenance, the status information is "busy", and when the maintenance personnel is idle, the status information is "idle".

[0095] For example, if there are 2 idle personnel, namely A and B, the score value of A is 80 and the score value of B is 90, then the maintenance instruction is preferentially dispatched to B; the terminal of B will receive the maintenance instruction and represent it in one or more forms such as text message, pop - up window or corner mark; the terminal can be a smart phone, a smart wearable device, a smart tablet, etc.

[0096] S260, if the fault belongs to a non - technical fault, the main controller retrieves the information of underground workers in the preset work information database and determines whether the number of idle underground workers is greater than 1. If so, based on the position information of the underground workers and the current position of the electric locomotive, a maintenance instruction is dispatched to the nearest underground worker. If not, a maintenance instruction is directly dispatched to the idle underground worker.

[0097] Among them, the information of underground workers includes the mobile phone number, name, status information, position information, etc. of the personnel; the position information and status information are obtained by the main controller from the user's mobile terminal (such as a smart phone) in real - time. According to the distance formula between two points, the distance between the current position of the faulty electric locomotive and the position of the underground worker can be obtained, so as to determine the nearest underground worker. The method of judging whether an underground worker is idle is the same as that of judging whether a maintenance worker is idle, and will not be described in detail for the time being.

[0098] In step S140, the steps before dispatching the detour route may include:

[0099] The main controller determines whether the number of locomotives on the detour route is above a preset quantity threshold. If so, the detour route is dynamically adjusted; if not, the corresponding detour route in the preset detour database is retrieved.

[0100] Specifically, dynamically adjusting the detour route means that the detour route corresponding to the locomotive can be dynamically combined by track numbers. For example, if the transportation route corresponding to the locomotive is 123 and the corresponding detour route is 145, and if it is detected that the number of locomotives on track No. 4 exceeds the quantity threshold and the number of locomotives on track No. 6 exceeds the quantity threshold, then the detour route is dynamically adjusted to 165; if the number of locomotives on each track of the detour route 145 is less than the quantity threshold, the detour route remains unchanged. The route database stores the pre-planned detour routes corresponding to the locomotives.

[0101] Refer to Figure 5 and Figure 6 , as another implementation of the transportation method, the transportation method may further include step S310:

[0102] S310, determine whether the locomotive is about to enter a curve or an intersection. If so, broadcast a safety reminder message.

[0103] Specifically, a voice broadcaster is installed on the locomotive. When the sub-controller determines that the locomotive is about to enter a curve or an intersection, it controls the voice broadcaster to broadcast a safety reminder message; the safety reminder message can be "There is a vehicle coming from behind, please pay attention to avoid it", etc.

[0104] Step S310 may specifically include S311 - S332 and / or S333 - S335;

[0105] Among them, steps S331 - S332 are:

[0106] S331, obtain the distance between the position of the locomotive and the position of the curve or intersection;

[0107] S332, determine whether this distance is less than a preset safety distance. If so, it is determined that the locomotive is about to enter a curve or an intersection.

[0108] Steps S333 - S335 are:

[0109] S333, obtain the speed information of the locomotive during transportation;

[0110] Specifically, a speed sensor is installed in the locomotive, and the speed sensor transmits the speed information to the sub-controller.

[0111] S334. Determine whether the speed value in the speed information is less than the speed value of normal driving. If so, obtain the second image information.

[0112] S335. Determine whether the features of a bend or an intersection appear in the second image information. If so, determine that the battery locomotive is about to enter a bend or an intersection.

[0113] The implementation principle of this embodiment is as follows:

[0114] The battery locomotive receives a transportation instruction and a transportation route, and transports according to the transportation route. During the transportation process, it sends location information and the first image information. When the battery locomotive breaks down, the main controller determines, based on the received location information and the first image information, whether the environmental information contained in the first image information is the environmental information at the ore pass. If not, continue to determine whether the environmental information contained in the first image information changes within the duration threshold. If not, determine that the battery locomotive has broken down and determine the current location of the battery locomotive. Then, the main controller determines whether the number of battery locomotives on the detour route of this battery locomotive is above the quantity threshold. If so, dynamically adjust the detour route. If not, retrieve the corresponding detour route from the detour database. Then, dispatch a detour instruction and the detour route to the battery locomotive, and the battery locomotive transports according to the detour route.

[0115] Based on the above method embodiment, another embodiment of the present application discloses an underground battery locomotive transportation system. Referring to Figure 7 , as an implementation manner of this transportation system, this transportation system may include:

[0116] A battery locomotive 100;

[0117] A sub-controller 110, installed inside the battery locomotive 100, for controlling the driving of the battery locomotive 100;

[0118] A main controller 200, installed in the main control room, wirelessly connected to the sub-controller 110, for dispatching instructions and routes.

[0119] Among them, as an implementation manner of the sub-controller 110, this sub-controller 110 may include:

[0120] An instruction receiving module 111, for receiving a transportation instruction and a detour instruction;

[0121] A route receiving module 112, for receiving a pre-planned transportation route and a detour route;

[0122] A control module 113, based on the transportation instruction, controls the battery locomotive 100 to transport according to the transportation route, and based on the detour instruction, controls the battery locomotive 100 to be detoured to transport according to the detour route;

[0123] A location sending module 114 for sending location information.

[0124] As an implementation of the main controller 200, the main controller 200 may include:

[0125] A location receiving module 201 for receiving location information and determining the current location of the battery locomotive 100 when the battery locomotive 100 breaks down;

[0126] An instruction dispatching module 202 for dispatching a detour instruction;

[0127] A detour route dispatching module 203 for dispatching a detour route to the battery locomotive 100 to be detoured, where the battery locomotive 100 to be detoured is the battery locomotive 100 that needs to pass through the current location of the battery locomotive 100 subsequently.

[0128] In addition, the main controller 200 may further include:

[0129] A number acquisition module 204 for acquiring the numbers of each track based on a pre-constructed transportation route map;

[0130] A transportation route dispatching module 205 for dispatching a transportation route to the sub-controller 110 after acquiring the transportation route.

[0131] The sub-controller 110 may further include:

[0132] An image sending module 115 for sending first image information.

[0133] The transportation system may further include:

[0134] An image acquisition module 120 installed before and after the battery locomotive 100 for acquiring first image information near the battery locomotive 100.

[0135] The main controller 200 may further include:

[0136] An image receiving module 206 for receiving first image information;

[0137] A first judgment module 207 for judging whether the environmental information included in the first image information is the environmental information at the ore pass, and if not, judging whether the environmental information included in the first image information changes within a preset duration threshold, and if not, determining that the battery locomotive 100 breaks down;

[0138] A second judgment module 208 for judging the type of the fault, where the fault type includes technical faults and non-technical faults;

[0139] The information retrieval module 209 is used to retrieve the maintenance personnel information in the preset maintenance database when the second judgment module 208 determines that the fault belongs to a technical fault; and is used to retrieve the underground staff information in the preset work information database when it is determined that the fault belongs to a non-technical fault.

[0140] The third judgment module 210 is used to judge whether the number of idle maintenance personnel is greater than 1. If so, the instruction dispatching module 202 dispatches a maintenance instruction to the maintenance personnel with a high score and being idle. If not, the instruction dispatching module 202 directly dispatches a maintenance instruction to the idle maintenance personnel; the third judgment module 210 is also used to judge whether the number of idle underground staff is greater than 1. If so, the instruction dispatching module 202 dispatches a maintenance instruction to the nearest underground staff based on the position information of the underground staff received by the position receiving module 201 and the current position of the locomotive 100. If not, it directly dispatches a maintenance instruction to the idle underground staff.

[0141] The fourth judgment module 211 is used to judge whether the number of locomotives 100 on the detour route is above a preset quantity threshold.

[0142] The detour route adjustment module 212 is used to dynamically adjust the detour route when the fourth judgment module 211 determines that the number of locomotives 100 on the detour route is above the quantity threshold.

[0143] Refer to Figure 8 , as another implementation manner of the transportation system, the transportation system may include:

[0144] The voice broadcast module 140 is installed on the locomotive 100 and is used to broadcast safety reminder information when it is determined that the locomotive 100 is about to enter a curve or an intersection.

[0145] As another implementation manner of the sub-controller 110, the sub-controller 110 may further include:

[0146] The distance acquisition module 116 is used to acquire the distance between the position of the locomotive 100 and the position of the curve or the intersection.

[0147] The distance judgment module 117 is used to judge whether the distance is less than a preset safety distance. If so, it is determined that the locomotive 100 enters the curve or the intersection.

[0148] Refer to Figure 9 , as another implementation manner of the transportation system, in addition to including the voice broadcast module 140, the transportation system may further include:

[0149] The speed information acquisition module 130 is used to acquire the speed information of the locomotive 100 during transportation.

[0150] As another embodiment of the sub-controller 110, the sub-controller 110 may include:

[0151] A speed judgment module 118 for judging whether the speed value in the speed information is less than the speed value of normal driving. If so, the image acquisition module 120 acquires second image information;

[0152] An image judgment module 119 for judging whether a bend or intersection feature appears in the second image information. If so, it is determined that the battery locomotive 100 enters a bend or intersection.

[0153] The implementation principle of this embodiment is as follows:

[0154] The instruction receiving module 111 receives a transportation instruction and a transportation route. The control module 113 controls the battery locomotive 100 to perform transportation according to the transportation route. During the transportation process, the position sending module 114 sends position information and first image information; when the battery locomotive 100 breaks down, the image sending module 115 sends the first image information. The first judgment module 207 judges whether the environmental information contained in the first image information is the environmental information at the ore pass. If not, it continues to judge whether the environmental information contained in the first image information changes within the duration threshold. If not, it is determined that the battery locomotive 100 breaks down, and based on the position information of the battery locomotive 100 received by the position receiving module 201, the current position of the battery locomotive 100 is determined. Then, the fourth judgment module 211 judges whether the number of battery locomotives 100 on the detour route of the battery locomotive 100 is above the quantity threshold. If so, the detour route adjustment module 212 dynamically adjusts the detour route. If not, the information retrieval module 209 retrieves the corresponding detour route from the detour database; then the detour route distribution module 203 distributes the detour route, and the instruction distribution module 202 distributes a detour instruction to the battery locomotive 100, and the control module 113 controls the battery locomotive 100 to perform transportation according to the detour route.

[0155] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application in turn. Any feature disclosed in this specification (including the abstract and drawings), unless specifically described, can be replaced by other equivalent or similar-purpose alternative features. That is, unless specifically described, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for underground locomotive transportation, characterized in that, Taking the electric locomotive side as the execution subject, including: Receiving transportation instructions; Receiving a pre-planned transportation route; Transporting according to the transportation route based on the transportation instructions; Sending location information; when the electric locomotive breaks down, the main controller determines the current location of the electric locomotive based on the received location information, and based on the current location of the electric locomotive, dispatches a detour instruction and a detour route to the electric locomotive to be detoured, where the electric locomotive to be detoured is the electric locomotive that needs to pass through the current location of the electric locomotive subsequently; Receiving the detour instruction and the detour route; Based on the detour instruction, the electric locomotive to be detoured transports according to the detour route; The steps for judging that the electric locomotive breaks down include: Collecting first image information before and after the electric locomotive; Sending the first image information; The main controller receives the first image information and judges whether the environmental information contained in the first image information is the environmental information at the ore discharge launder. If not, it judges whether the environmental information contained in the first image information changes within a preset duration threshold. If not, it determines that the electric locomotive breaks down; The steps after determining that the electric locomotive breaks down include: The main controller judges the type of fault to which the fault belongs, where the fault types include technical faults and non-technical faults; If the fault belongs to a technical fault, the main controller retrieves the information of maintenance personnel in a preset maintenance database and judges whether the number of idle personnel among the maintenance personnel is greater than 1. If so, it dispatches a maintenance instruction to the maintenance personnel with high scores and who are idle. If not, it directly dispatches a maintenance instruction to the idle maintenance personnel; If the fault belongs to a non-technical fault, the main controller retrieves the information of underground workers in a preset work information database and judges whether the number of idle personnel among the underground workers is greater than 1. If so, based on the current location of the electric locomotive and the location information of the underground workers, it dispatches a maintenance instruction to the nearest underground worker. If not, it directly dispatches a maintenance instruction to the idle underground worker.

2. The method for underground locomotive transportation according to claim 1, characterized in that, The receiving of the pre-planned transportation route includes: The main controller obtains the number of each track based on a pre-constructed transportation route map; After the main controller obtains the transportation route, it dispatches the transportation route to the corresponding electric locomotive; where the transportation route is composed of a combination of track numbers.

3. The method for underground locomotive transportation according to claim 1, characterized in that, The steps before dispatching the detour route include: The main controller judges whether the number of electric locomotives on the detour route is above a preset number threshold. If so, it dynamically adjusts the detour route. If not, it retrieves the corresponding detour route from a preset detour database.

4. The method for underground locomotive transportation according to claim 1, characterized in that, The transportation method further includes: Judging whether it is about to enter a curve or an intersection. If so, it broadcasts a safety reminder message.

5. The method for underground locomotive transportation according to claim 4, characterized in that, The specific judgment of whether it is about to enter a curve or an intersection includes: Obtaining the distance from the position of the electric locomotive to the position of the curve or the intersection; Judging whether the distance is less than a preset safety distance. If so, it determines that the electric locomotive is about to enter a curve or an intersection; And / or Obtaining the speed information when the electric locomotive is transporting; Determine whether the speed value in the speed information is less than the speed value of normal driving. If so, obtain the second image information; Determine whether a bend or intersection feature appears in the second image information. If so, determine that the battery locomotive is about to enter a bend or intersection.

6. An underground locomotive transportation system, characterized in that, Applicable to the underground battery locomotive transportation method according to any one of claims 1-5, the underground battery locomotive transportation system includes: A battery locomotive (100); A sub-controller (110), installed inside the battery locomotive (100), for controlling the driving of the battery locomotive (100); A main controller (200), installed in the main control room, wirelessly connected to the sub-controller (110), for dispatching instructions and routes; Wherein, the sub-controller (110) includes: An instruction receiving module (111), for receiving transportation instructions and detour instructions; A route receiving module (112), for receiving a pre-planned transportation route and a detour route; A control module (113), based on the transportation instructions, controls the battery locomotive to transport according to the transportation route, and based on the detour instructions, controls the battery locomotive to be detoured to transport according to the detour route; A position sending module (114), for sending position information; The main controller (200) includes: A position receiving module (201), for receiving the position information and determining the current position of the battery locomotive (100) when the battery locomotive (100) breaks down; An instruction dispatching module (202), for dispatching the detour instructions; A detour route dispatching module (203), for dispatching the detour route to the battery locomotive (100) to be detoured, wherein the battery locomotive (100) to be detoured is the battery locomotive (100) that needs to pass through the current position of the battery locomotive (100) subsequently.

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