A truck dispatching system-based open-pit mine excavator loading identification method

Abstract

The application discloses a kind of based on truck scheduling system's open-pit mine excavator loading identification method, comprising: obtaining truck position information and the pose change parameter information of excavator by truck scheduling system;Determine the action of excavator based on pose change information;Based on the arrangement combination mode of each action on continuous time, the loading behavior of excavator is judged and identified;Based on truck position information and pose change parameter information, whether the position of excavator's dipper, the action duration of excavator in loading behavior process meets the corresponding loading condition, if all meet, then judge the loading behavior of excavator is effective.The application accurately judges the loading behavior of excavator by identifying various actions of excavator, realizes accurate and effective monitoring of excavator and truck used in open-pit mining, also provides necessary and accurate data information basis for statistics material yield, driver work load, etc., improves the overall monitoring and management capability of open-pit mining.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of open-pit mine automation, and particularly relates to a method for identifying loading of excavators in open-pit mines based on a truck dispatching system. BACKGROUND

[0002] Open-pit mining is an important process of mining, and is more convenient to operate, has a higher recovery ratio, is safer, and has a high operation efficiency, and is more suitable for large-scale resource mining. In open-pit mines, the main mining and loading equipment of mines other than super-large open-pit mines with a capacity of more than 2000t is mainly hydraulic excavators, which have the characteristics of low price, reliable performance, strong adaptability, and low operation cost, and are suitable for mining of various hardness ore bodies.

[0003] The truck dispatching system of the open-pit mine can monitor links such as mining, loading, transportation, blasting, and unloading, and is generally composed of three parts, namely, a vehicle terminal subsystem, a wireless transmission subsystem, and a dispatching center subsystem. The vehicle terminal subsystem mainly collects basic information such as the state, material, and positioning of the open-pit mine equipment. The wireless transmission subsystem is mainly used for data transmission. The dispatching center subsystem interprets and displays the transmission data, and visually presents the data to the dispatching managers in the form of text and images, so as to achieve the purpose of monitoring and decision-making.

[0004] At present, in open-pit mining, the excavators and trucks used for mining cannot be accurately and effectively detected and managed, and thus the overall supervision capability of the open-pit mining is very limited. For example, in the traditional operation amount counting mode, the loading area is determined according to the loading radius of the excavator, the vehicle is judged to be in the loading state when the vehicle enters the loading area and continuously stays for more than 30 seconds, and thus the operation amount of the vehicle is increased by one truck. Such a counting mode is easy to identify and measure the vehicles that do not actually load, and cannot accurately judge the start and end times of loading. SUMMARY

[0005] The present application provides a method for identifying loading of excavators in open-pit mines based on a truck dispatching system, which can accurately identify the loading operation of the excavator, and can obtain information such as the equipment number and driver of the truck and excavator through the truck dispatching system, so as to provide a data basis for statistical management of which truck and driver the excavator is loaded.

[0006] The present application discloses a method for identifying loading of excavators in open-pit mines based on a truck dispatching system, comprising:

[0007] S1: obtaining truck position information and pose change parameter information of the excavator through the truck dispatching system;

[0008] S2: determining the action of the excavator based on the pose change information.

[0009] S3: judging and identifying the loading behavior of the excavator based on the arrangement and combination mode of each action on the continuous time;

[0010] S4: judging whether the position of the bucket of the excavator, the action duration of the excavator in the loading behavior process meet the corresponding loading conditions based on the truck position information and the pose change parameter information, and if all meet, judging that the loading behavior of the excavator is valid.

[0011] The present application has at least the following beneficial effects:

[0012] The present application accurately judges the loading behavior of the excavator by identifying various actions of the excavator, realizes accurate and effective monitoring of the excavator and the truck used for open-pit mining, and provides necessary and accurate data information basis for statistics of material yield, driver operation amount and the like, and improves the overall monitoring and management capability of open-pit mining.

[0013] Other beneficial effects of the present application will be described in detail in the specific implementation manner part. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0015] Figure 1 is the flow chart of the open-pit excavator loading identification method based on the truck scheduling system disclosed by the present application.

[0016] Figure 2 is the schematic diagram of the coordinate system of the connecting rod device disclosed by the present application.

[0017] Figure 3 is the schematic diagram of the sensor installation position on the excavator disclosed by the present application.

[0018] Figure 4 is the schematic diagram of the error position range of the truck disclosed by the present application.

[0019] Among them, 1-bucket posture sensor, 2-small arm posture sensor, 3-large arm posture sensor, 4-positioning antenna, 5-error position range. DETAILED DESCRIPTION

[0020] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described in detail below. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present application.

[0021] As shown in Figure 1 , the present application discloses a truck scheduling system-based strip mine excavator truck loading identification method, comprising:

[0022] S1: obtaining truck position information and excavator pose change parameter information through a truck scheduling system;

[0023] S2: determining the action of the excavator based on the pose change information;

[0024] S3: judging and identifying the truck loading behavior of the excavator based on the arrangement and combination mode of each action in continuous time;

[0025] S4: based on the truck position information and the pose change parameter information, judging whether the position of the excavator's bucket, the action duration of the excavator during the truck loading process meet the corresponding truck loading conditions, and if all meet, judging that the truck loading behavior of the excavator is valid.

[0026] In some embodiments of the present application, the step S2 comprises:

[0027] determining the excavating action, rotating action and unloading action of the excavator based on the pose change information;

[0028] The step S3 comprises:

[0029] when one or more groups of arrangement and combination of the following actions appearing continuously within a certain time are judged, it is identified that the excavator has a truck loading behavior:

[0030] excavating action-rotating action-unloading action-rotating action.

[0031] In some embodiments of the present application, in the step S1, the pose change parameter information comprises antenna coordinate information of two positioning antennas 4 (see Figure 3 ) arranged on the excavator;

[0032] The rotating action of the excavator determined based on the pose change information comprises:

[0033] determining the straight line position information of the antenna connecting line based on the two antenna coordinate information, wherein the antenna connecting line refers to the connecting line of the two positioning antennas 4;

[0034] Based on the straight line position information, the positions of the antenna connecting lines at the front and rear time are compared, and if there is an included angle, it is determined that the excavator makes a rotating action.

[0035] In some embodiments of the present application, in the step S1, the pose transformation parameter information includes: large arm angle information reflecting the included angle between the large arm and the excavator body, small arm angle information reflecting the included angle between the large arm and the small arm, and bucket angle information reflecting the included angle between the small arm and the bucket.

[0036] The excavating action and the unloading action of the excavator are determined based on the pose transformation information, including:

[0037] The lifting and falling postures of the large arm and the small arm are determined through the angle changes reflected by the large arm angle information and the small arm angle information at the front and rear time.

[0038] The opening and closing postures of the bucket are determined through the angle changes reflected by the bucket angle information at the front and rear time.

[0039] In the case where the lifting and falling posture is determined to be falling and the opening and closing posture is determined to be closed, it is judged that the excavator makes an excavating action; in the case where the lifting and falling posture is determined to be raised and the opening and closing posture is determined to be open, it is judged that the excavator makes an unloading action.

[0040] In some embodiments of the present application, in the pose transformation parameter information, the bucket angle information is determined by the information detected by the bucket posture sensor 1 arranged on the bucket, the small arm angle information is determined by the information detected by the small arm posture sensor 2 arranged on the small arm, and the large arm angle information is determined by the information detected by the large arm posture sensor 3 arranged on the large arm, as shown in Figure 3 .

[0041] In some embodiments of the present application, in the step S4, the loading condition includes a bucket position condition; and the judgment of whether the position of the bucket of the excavator during the loading behavior meets the corresponding loading condition includes:

[0042] The error position range is determined based on the truck position information.

[0043] The connecting rod device coordinate system is established based on the connecting rod device of the excavator, and the first position information of the bucket in the connecting rod device coordinate system is determined based on the pose change parameter information.

[0044] The first position information of the bucket in the connecting rod device coordinate system is converted into the second position information in the geodetic coordinate system based on the excavator position information and the rotation angle of the connecting rod device.

[0045] The second position information during the unloading action in the loading behavior is compared with the error position range, and if it is always within the error position range, it is determined that the bucket position condition is met.

[0046] In some embodiments of the present application, the first position information (D x , D y , D z ) is calculated according to the following expression:

[0047]

[0048] wherein L AB represents the length of the large arm, L BC represents the length of the small arm, alpha represents the angle between the large arm and the horizontal plane of the vehicle body of the excavator, beta represents the angle between the large arm and the small arm, and gamma represents the angle between the small arm and the bucket.

[0049] In some embodiments of the present application, in the step S4, the loading condition comprises an unloading time condition; whether the action duration of the excavator during the loading behavior meets the corresponding loading condition comprises:

[0050] determining the actual unloading time used for the unloading action in the loading behavior;

[0051] determining whether the actual unloading time is greater than the preset unloading time, and if yes, determining that the unloading time condition is met.

[0052] In some embodiments of the present application, further comprising:

[0053] when the number of times of the loading behavior of the excavator reaches the preset behavior number and the truck drives away from the loading range of the excavator, determining that the production count is increased by one truck.

[0054] In some embodiments of the present application, further comprising:

[0055] obtaining the equipment information, the driver information and the material information through the truck scheduling system, and associating and storing the information with the corresponding loading behavior of the excavator.

[0056] Embodiments

[0057] The present application obtains the position information T1 of the truck through the truck scheduling system, and further obtains the positions W1 and W2 of the two positioning antennas of the excavator, the angle (alpha) of the large arm, the angle (beta) of the small arm and the angle (gamma) of the bucket.

[0058] The present embodiment discloses a method for recognizing the following actions and behaviors of the excavator:

[0059] (1) Recognition of the rotation of the excavator: the loading equipment in the truck scheduling system adopts double-antenna high-precision positioning, and the coordinates of the two positioning antennas are (W 1x , W 1y ) and (W 2x , W 2y), two positioning antennas always form a straight line, namely W1W2, the angle of the straight line W1W2 from the initial time (the previous time) to the terminal time (the later time) is called the rotation angle, and the rotation angle alternates clockwise and counterclockwise during the loading process. If the excavator chooses clockwise or counterclockwise, the rotation angle is not 0, so the rotation action of the excavator can be determined.

[0060] (2) Bucket position recognition: The main working posture of the hydraulic excavator includes boom movement, arm movement and bucket movement, which is monitored by the angle information obtained by the posture sensors in the truck dispatching system. When the vehicle body is fixed, its working posture can be regarded as a plane for operation. Combined with the positioning information of the excavator, the position of the bucket (D x , D y , D z ) can be calculated in real time by the following formula:

[0061]

[0062] (3) Bucket opening and closing recognition: The bucket angle γ can be obtained by the posture sensor on the bucket. In the case of time continuity, if the angle change between the bucket and the arm is from large to small, it is defined as the bucket closing; if the angle change between the bucket and the arm is from small to large, it is defined as the bucket opening.

[0063] (4) Excavation and unloading: The main working posture of the excavator includes boom movement, arm movement, bucket movement or various combined movements, as shown in Figure 2 , the posture of the boom and arm is recognized by the change of α, β and γ angles. Generally, the process of increasing boom angle and arm angle is recognized as the lifting posture of the boom and arm, i.e. the lifting posture is lifted. In the case of determining that the lifting posture is lifted and the bucket is opened, it is judged that the excavator makes unloading action; the process of reducing boom angle and arm angle is recognized as the falling posture of the boom and arm, i.e. the lifting posture is lowered. In the case of determining that the lifting posture is lowered and the bucket is closed, it is judged that the excavator makes excavation action.

[0064] Judgment of whether the action of the excavator meets the conditions for loading behavior: combined with the position of the excavator, the excavation, rotation and unloading actions and the position information of the truck. When the excavator performs the action of "excavation-rotation-unloading-rotation" in a continuous time, it is preliminarily determined as loading behavior, and in a longer continuous time, the number of loading behaviors of the excavator may increase continuously.

[0065] Next, it is still necessary to continue to judge whether the loading behavior is effective, which includes two conditions: the bucket position condition and the unloading time condition. As Figure 4As shown, the shovel position condition needs to be met when the excavator loads the truck, the position D of the shovel of the excavator should be located within the error ellipse range (error position range 5) of the position T1 of the truck; the unloading time condition needs to be met, the time required for the unloading action is greater than the preset unloading time, preferably, the time from the start of the excavator turning to the end of the unloading should be greater than 5 seconds, otherwise the unloading time condition is not met. Only when the loading behavior meets the above two conditions, the loading behavior is considered valid, otherwise it is not considered as a valid loading behavior.

[0066] Through the recognition of the loading behavior of the excavator, the yield counting recognition of the open pit mine can also be realized. When the loading behavior exists, it is started until the truck drives away from the loading radius range of the excavator, it is considered that the excavator has finished loading the truck, and the yield counting is increased by one truck. Since the excavator needs to pass through multiple buckets to fill the truck compartment, the yield counting process is the repeated loading behavior of the excavator, and the multiple repetitions of the loading behavior need to be considered when the loading behavior is judged, preferably, the loading behavior should be greater than 3 times. Finally, combined with the device number, driver, material and other information provided by the truck scheduling system, which device, which person, and what material are loaded can be specifically recognized, which is convenient for counting the yield according to the driver, the device number and the material.

[0067] It is worth mentioning that the front and rear moments mentioned in the present application are not specific to a certain moment, and the interval between the two is not limited to a certain fixed time period. In this article, it is only used to distinguish the order of the two moments that appear in pairs.

[0068] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A method for identifying the loading of excavators in open-pit mines based on a truck dispatching system, characterized in that, include: S1: Obtain truck location information and excavator pose change parameters through the truck dispatching system; S2: Determine the excavator's actions based on pose change parameter information; S3: Based on the permutation and combination of each action in continuous time, identify the loading behavior of the excavator; S4: Based on the truck position information and pose change parameter information, determine whether the excavator bucket position and excavator action duration during the loading process meet the corresponding loading conditions. If both meet the conditions, the excavator's loading behavior is deemed valid. Step S2 includes: The digging, rotating, and unloading actions of the excavator are determined based on the pose change parameter information. Step S3 includes: When a set or several combinations of the following actions occur consecutively within a certain time period, it can be determined that the excavator is engaged in loading behavior: Excavation action - Rotation action - Unloading action - Rotation action; In step S4, the loading conditions include the bucket position condition; determining whether the excavator's bucket position meets the corresponding loading conditions during the loading process includes: Determine the error location range based on truck location information; A linkage coordinate system is established based on the linkage device of the excavator, and the first position information of the bucket in the linkage coordinate system is determined based on the pose change parameter information. Based on the excavator's position information and the rotation angle of the linkage device, the first position information of the bucket in the linkage device coordinate system is converted into the second position information in the geodetic coordinate system; The second position information during the unloading action in the loading process is compared with the error position range. If it is always within the error position range, the bucket position condition is determined to be met. The first location information (D) x D y D z The calculation expression for ) is as follows: ； Among them, L AB The straight length of the upper arm, L BC The straight length of the forearm, L CD The angle between the boom and the horizontal plane of the excavator body is α, the angle between the boom and the forearm is β, and the angle between the forearm and the bucket is γ. In step S4, the loading conditions include unloading time conditions; whether the excavator's operation duration during the loading process meets the corresponding loading conditions includes: Determine the actual unloading time used for the unloading action during the loading process; Determine if the actual uninstallation time is greater than the preset uninstallation time. If so, then the uninstallation time condition is met.

2. The method for identifying loading of excavators in open-pit mines based on a truck dispatching system according to claim 1, characterized in that, In step S1, the pose change parameter information includes: antenna coordinate information of the two positioning antennas set on the excavator; The method for determining the excavator's rotational motion based on pose change parameter information includes: The straight-line position information of the antenna connection is determined based on the coordinate information of the two antennas, where the antenna connection refers to the connection between the two positioning antennas. Based on the linear position information, the positions of the antenna connection line at the previous and subsequent moments are compared. If an angle exists, it is determined that the excavator has made a rotational movement.

3. The method for identifying loading of excavators in open-pit mines based on a truck dispatching system according to claim 1, characterized in that, In step S1, the pose change parameter information includes: boom angle information reflecting the angle between the boom and the excavator body, forearm angle information reflecting the angle between the boom and the forearm, and bucket angle information reflecting the angle between the forearm and the bucket. The method for determining the excavation and unloading actions of an excavator based on pose change parameter information includes: The lifting and lowering postures of the upper arm and forearm are determined by the angle changes reflected in the upper arm angle information and forearm angle information at the previous and subsequent moments. The opening and closing posture of the bucket is determined by the angle changes reflected by the bucket angle information at previous and subsequent moments. If the lifting posture is determined to be "lowering" and the opening posture to be "closed", the excavator is judged to perform a digging action; if the lifting posture is determined to be "lifting" and the opening posture to be "open", the excavator is judged to perform an unloading action.

4. The method for identifying loading of excavators in open-pit mines based on a truck dispatching system according to claim 3, characterized in that, In the pose change parameter information, the bucket angle information is determined by the information detected by the bucket posture sensor set on the bucket, the forearm angle information is determined by the information detected by the forearm posture sensor set on the forearm, and the boom angle information is determined by the information detected by the boom posture sensor set on the boom.

5. The method for identifying loading of excavators in open-pit mines based on a truck dispatching system according to claim 1, characterized in that, Also includes: If the excavator performs loading actions a preset number of times, and the truck leaves the excavator's loading range, then the production count is increased by one truckload.

6. The method for identifying loading of excavators in open-pit mines based on a truck dispatching system according to claim 1, characterized in that, Also includes: The system obtains equipment information, driver information, and material information through a truck dispatching system, and associates and stores this information with the corresponding excavator loading activities.

Images