A method for managing data of unmanned mining vehicles

Abstract

The present invention relates to the technical field of unmanned mine cars, and specifically to a method for managing data of unmanned mine cars, including: obtaining driving state information and mining area environment information of the unmanned mine car; determining the driving plan of the unmanned mine car according to the driving state information and mining area environment information; the driving state information includes: initial state information and travel state information; the initial state information includes: initial position and initial power; the travel state information includes: driving speed E and real-time power L; the mining area environment information includes: several preset mining routes and several mining locations; receiving driving plan information and storing and pushing it. The present invention determines the driving plan by obtaining the driving state information and mining area environment information of the unmanned mine car, receives the driving plan information for storage and pushing, and the unmanned mine car executes the driving plan information according to the push, reasonably arranges the driving path and time of the unmanned mine car, and improves the working efficiency of mineral mining.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned mining vehicles, and in particular to a method for managing data of unmanned mining vehicles. Background Art

[0002] Compared with urban roads, the mining environment is closed, and the roads and traffic rules are self-contained. There are no traffic regulations issues on public roads. In addition, vehicle routes are relatively fixed, and the speed is mostly below 40km / h. Based on safety and cost considerations, unmanned driving becomes an important choice.

[0003] At the same time, there will be a variety of minerals in the co-existing ore that meet their own separate grade requirements, reserve requirements and deposit scale. In the mining process of the co-existing ore, how to realize the unmanned mining car to collect a variety of different minerals while ensuring the return trip, so as to improve the efficiency of mineral mining and reduce mining costs, has become a new requirement for technological development. Summary of the invention

[0004] In view of this, the present invention proposes a management method for unmanned mining car data, which is mainly to solve the problem of how to collect a variety of different minerals, improve mining efficiency and reduce production costs.

[0005] In one aspect, the present invention provides a method for managing data of an unmanned mining vehicle, the method comprising:

[0006] Acquiring driving status information and mining area environment information of the unmanned mining vehicle;

[0007] Determining a driving plan of the unmanned mining vehicle according to the driving state information and the mining area environment information;

[0008] The driving state information includes: initial state information and traveling state information;

[0009] The initial state information includes: initial position and initial power;

[0010] The travel status information includes: travel speed E and real-time power L;

[0011] The mining area environmental information includes: a number of preset mining routes and a number of mining locations;

[0012] Priority levels are set in advance according to different mineral resources at the mining locations, and a number of corresponding priority levels are obtained according to a number of the mining locations. The priority levels are divided from high to low into: a first priority, a second priority, and a third priority, and the first priority is higher than the second priority, and the second priority is higher than the third priority;

[0013] The driving plan information is received and stored and pushed.

[0014] In some embodiments of the present application, when determining the driving plan of the unmanned mining vehicle according to the driving state information and the mining area environment information, it includes:

[0015] Calculate the theoretical distance Aa of the unmanned mining vehicle according to the initial power;

[0016] Obtaining the initial position of the unmanned mining vehicle and the several mining locations, determining the driving routes of the unmanned mining vehicle to the several mining locations Ci according to the mining route map of the mining area, i=1, 2, 3, ..., n, and calculating the actual distance Bi of each driving route, i=1, 2, 3, ..., n, Bi corresponds to Ci;

[0017] According to the theoretical distance Aa and the actual distance Bi, several primary target mining locations that the unmanned mining vehicle can reach are determined.

[0018] In some embodiments of the present application, when determining a number of primary target mining locations that the unmanned mining vehicle can reach according to the theoretical distance Aa and the actual distance Bi, the method specifically includes:

[0019] When (Aa / 2)>Bi, extract several mining positions Ci corresponding to the actual distance Bi as several first-level target mining positions, extract the priority levels corresponding to several first-level target mining positions, and use the first-level target mining position corresponding to the first priority as the first mining position D1;

[0020] When (Aa / 2)≤Bi, the mining positions Ci corresponding to the actual distance Bi are regarded as abandoned mining positions.

[0021] In some embodiments of the present application, after the first mining location D1 is selected, the driving route K1 of the unmanned mining vehicle is determined and the driving speed E1 corresponding to the driving route K1 is preset;

[0022] When the unmanned mining vehicle is traveling on the driving route K1, the bump accumulation value VBI1 of the driving route K1 is obtained, a first preset bump accumulation value V1, a second preset bump accumulation value V2, a third preset bump accumulation value V3, and a fourth preset bump accumulation value V4 are preset, and V1>V2>V3>V4; a first preset adjustment coefficient v1, a second preset adjustment coefficient v2, a third preset adjustment coefficient v3, and a fourth preset adjustment coefficient v4 are preset, and 0.8<v1<v2<1<v3<v4<1.2;

[0023] When VBI1≥V1, the first preset adjustment coefficient v1 is selected to adjust the driving speed E1, and the adjusted driving speed is E1*v1;

[0024] When V1>VBI1≥V2, the second preset adjustment coefficient v2 is selected to adjust the driving speed E1, and the adjusted driving speed is E1*v2;

[0025] When V2>VBI1≥V3, the third preset adjustment coefficient v3 is selected to adjust the driving speed E1, and the adjusted driving speed is E1*v3;

[0026] When V3>VBI1≥V4, the fourth preset adjustment coefficient v4 is selected to adjust the driving speed E1, and the adjusted driving speed is E1*v4.

[0027] In some embodiments of the present application, the real-time power La of the unmanned mining vehicle when it reaches the first mining position D1 is obtained, and the remaining distance Ab of the unmanned mining vehicle is calculated according to the real-time power La;

[0028] Calculate the intermediate distance Ac between the first mining position D1 and the remaining mining positions Gi and the return distance Ad between the remaining mining positions Gi and the initial position;

[0029] Several secondary target mining locations that the unmanned mining vehicle can reach are determined based on the remaining distance Ab, the intermediate distance Ac and the return distance Ad.

[0030] In some embodiments of the present application, when determining the several secondary target mining locations that the unmanned mining vehicle can reach according to the remaining distance Ab, the intermediate distance Ac and the return distance Ad, it specifically includes:

[0031] When Ac+Ad≤Ab, extract a number of remaining mining positions Gi corresponding to the return journey Ad as the secondary target mining positions, extract the priority level corresponding to the secondary target mining positions, and use the secondary target mining positions corresponding to the second priority level as the second mining position D2;

[0032] When Ac+Ad>Ab, a number of remaining mining positions Gi corresponding to the return distance Ad are used as abandoned mining positions.

[0033] In some embodiments of the present application, after the second mining location D2 is selected, the driving route K2 of the unmanned mining vehicle is determined and the driving speed E2 corresponding to the driving route K2 is preset, where E2=E1*vi;

[0034] When the unmanned mining vehicle is traveling on the driving route K2, a bump accumulation value VBI2 of the driving route K2 is obtained; a first preset adjustment coefficient f1, a second preset adjustment coefficient f2, a third preset adjustment coefficient f3, and a fourth preset adjustment coefficient f4 are preset, and 0.8<f1<f2<1<f3<f4<1.2;

[0035] When VBI2≥V1, the first preset adjustment coefficient f1 is selected to adjust the driving speed E2, and the adjusted driving speed is E2*f1;

[0036] When V1>VBI2≥V2, the second preset adjustment coefficient f2 is selected to adjust the driving speed E2, and the adjusted driving speed is E2*f2;

[0037] When V2>VBI2≥V3, the third preset adjustment coefficient f3 is selected to adjust the driving speed E2, and the adjusted driving speed is E2*f3;

[0038] When V3>VBI2≥V4, the fourth preset adjustment coefficient f4 is selected to adjust the driving speed E2, and the adjusted driving speed is E2*f4.

[0039] In some embodiments of the present application, the real-time power Lb of the unmanned mining vehicle when it reaches the second mining location D2 is obtained, and the remaining distance Ae of the unmanned mining vehicle is calculated according to the real-time power Lb;

[0040] Calculate the intermediate distance Am between the second mining position D2 and the remaining mining positions Ki and the return distance An between the remaining mining positions Ki and the initial position;

[0041] Determine a number of third-level target mining locations that the unmanned mining vehicle can reach based on the remaining distance Ae, the intermediate distance Am and the return distance An;

[0042] When Am+An≤Ae, extract several remaining mining positions Ki corresponding to the return journey Ae as the third-level target mining positions, extract the priority levels corresponding to the third-level target mining positions, and use the third-level target mining positions corresponding to the third priority as the third mining position D3;

[0043] When Am+An>Ae, a number of remaining mining positions Ki corresponding to the return distance Ae are used as abandoned mining positions.

[0044] In some embodiments of the present application, after the third mining position D3 is selected, the driving route K3 of the unmanned mining vehicle is determined and the driving speed E3 corresponding to the driving route K3 is preset, where E3=E2*fi;

[0045] When the unmanned mining vehicle is traveling on the driving route K3, a bump accumulation value VBI3 of the driving route K3 is obtained; a first preset adjustment coefficient z1, a second preset adjustment coefficient z2, a third preset adjustment coefficient z3, and a fourth preset adjustment coefficient z4 are preset, and 0.8<z1<z2<1<z3<z4<1.2;

[0046] When VBI2≥V1, the first preset adjustment coefficient z1 is selected to adjust the driving speed E3, and the adjusted driving speed is E3*z1;

[0047] When V1>VBI2≥V2, the second preset adjustment coefficient z2 is selected to adjust the driving speed E3, and the adjusted driving speed is E3*z2;

[0048] When V2>VBI2≥V3, the third preset adjustment coefficient z3 is selected to adjust the driving speed E3, and the adjusted driving speed is E3*z3;

[0049] When V3>VBI2≥V4, the fourth preset adjustment coefficient z4 is selected to adjust the driving speed E3, and the adjusted driving speed is E3*z4.

[0050] In some embodiments of the present application, the driving plan information is received and stored and pushed, specifically including: saving the driving status information and mining environment information in real time and pushing the saved information, and the unmanned mining vehicle executes the driving plan information according to the push.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] The present invention determines the driving plan of the unmanned mine car by acquiring the driving status information and the mining area environment information of the unmanned mine car, receives the driving plan information and stores and pushes it, and the unmanned mine car executes the driving plan information according to the push, and reasonably arranges the driving path and time of the unmanned mine car by formulating a driving plan for the unmanned mine car, thereby improving the working efficiency of mineral mining.

[0053] Furthermore, in this embodiment, by pre-setting priority levels according to different mineral resources at the mining location, different mineral resources are preset to different priority levels, and then the specific mining location is selected from the first priority level, the second priority level and the third priority level in turn according to the mining location that the mine car can reach, thereby achieving the goal of mining as many different mineral resources as possible while ensuring that the unmanned mine car can return, thereby improving the working efficiency of the unmanned mine car and the mining efficiency of different minerals. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only used for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. In the accompanying drawings:

[0055] Figure 1 The present invention provides a flowchart of a method for managing data of an unmanned mining vehicle. DETAILED DESCRIPTION

[0056] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0057] See also Figure 1 As shown, this embodiment provides a method for managing data of an unmanned mining vehicle, including:

[0058] Step S101: Acquire the driving state information and mining area environment information of the unmanned mining vehicle;

[0059] Step S102: determining a driving plan of the unmanned mining vehicle according to the driving state information and the mining area environment information;

[0060] Step S103: receiving the driving plan information and storing and pushing it.

[0061] Specifically, the driving status information includes: initial status information and travel status information; the initial status information includes: initial position and initial power; the travel status information includes: driving speed E and real-time power L; the mining environment information includes: several preset mining routes and several mining locations.

[0062] Corresponding priority levels are set in advance according to different resources of the mining locations, and corresponding priority levels are obtained according to the mining locations. The priority levels are divided from high to low into: first priority, second priority and third priority, and the first priority is higher than the second priority, and the second priority is higher than the third priority.

[0063] Specifically, the priority levels of different mining locations are pre-set according to different mineral resources, wherein the determination of the specific priority level can be selected by those skilled in the art according to actual conditions, and this embodiment does not make any specific limitation here.

[0064] It can be understood that in this embodiment, the driving plan is determined by obtaining the driving status information of the unmanned mine car and the environmental information of the mining area. By receiving, saving and promoting the driving plan information, the unmanned mine car executes the driving plan according to the push, thereby improving the mining efficiency of the unmanned mine car.

[0065] In a specific embodiment of the present application, when determining the driving plan of the unmanned mining vehicle according to the driving state information and the mining area environment information, it includes:

[0066] Calculate the theoretical distance Aa of the unmanned mining vehicle according to the initial power;

[0067] Obtaining the initial position of the unmanned mining vehicle and the several mining locations, determining the driving routes of the unmanned mining vehicle to the several mining locations Ci according to the mining route map of the mining area, i=1, 2, 3, ..., n, and calculating the actual distance Bi of each driving route, i=1, 2, 3, ..., n, Bi corresponds to Ci;

[0068] According to the theoretical distance Aa and the actual distance Bi, several primary target mining locations that the unmanned mining vehicle can reach are determined.

[0069] In a specific embodiment of the present application, when determining a number of primary target mining locations that the unmanned mining vehicle can reach according to the theoretical distance Aa and the actual distance Bi, it specifically includes:

[0070] When (Aa / 2)>Bi, extract several mining positions Ci corresponding to the actual distance Bi as several first-level target mining positions, extract the priority levels corresponding to several first-level target mining positions, and use the first-level target mining position corresponding to the first priority as the first mining position D1;

[0071] When (Aa / 2)≤Bi, the mining positions Ci corresponding to the actual distance Bi are regarded as abandoned mining positions.

[0072] In a specific embodiment of the present application, after the first mining location D1 is selected, the driving route K1 of the unmanned mining vehicle is determined and the driving speed E1 corresponding to the driving route K1 is preset;

[0073] When the unmanned mining vehicle is traveling on the driving route K1, the bump accumulation value VBI1 of the driving route K1 is obtained, a first preset bump accumulation value V1, a second preset bump accumulation value V2, a third preset bump accumulation value V3, and a fourth preset bump accumulation value V4 are preset, and V1>V2>V3>V4; a first preset adjustment coefficient v1, a second preset adjustment coefficient v2, a third preset adjustment coefficient v3, and a fourth preset adjustment coefficient v4 are preset, and 0.8<v1<v2<1<v3<v4<1.2;

[0074] When VBI1≥V1, the first preset adjustment coefficient v1 is selected to adjust the driving speed E1, and the adjusted driving speed is E1*v1;

[0075] When V1>VBI1≥V2, the second preset adjustment coefficient v2 is selected to adjust the driving speed E1, and the adjusted driving speed is E1*v2;

[0076] When V2>VBI1≥V3, the third preset adjustment coefficient v3 is selected to adjust the driving speed E1, and the adjusted driving speed is E1*v3;

[0077] When V3>VBI1≥V4, the fourth preset adjustment coefficient v4 is selected to adjust the driving speed E1, and the adjusted driving speed is E1*v4.

[0078] It can be understood that in this embodiment, the theoretical distance Aa that the unmanned mine car can travel is calculated by the initial power, and the actual distances Bi of several driving routes are calculated by determining the driving routes of the unmanned mine car to several mining locations. The mining locations that the unmanned mine car can reach and return are calculated based on the theoretical distance Aa and the actual distance Bi to form a first-level target mining location set, and then the mining location corresponding to the first priority is selected as the first mining location D1 according to the priority level corresponding to each mining location in the first-level mining target set. Among them, if there are multiple mining locations with the first priority, the mining location closest to the initial position of the unmanned mine car among the several first-priority mining locations is selected as the first mining location D1, so as to ensure that the unmanned mine car can complete the mining of multiple minerals within a limited theoretical driving distance, thereby improving the efficiency of mining multiple minerals. At the same time, after determining the first mining position D1, the driving route K1 of the unmanned mine car to the first mining position D1 is determined, and the driving speed E1 of the driving route K1 is preset. When the unmanned mine car is driving on the driving route K1, the bump accumulation value VBI1 on the driving route K1 is collected, and the driving speed E1 is adjusted according to the bump accumulation value VBI1 to ensure the safety of the unmanned mine car.

[0079] In a specific embodiment of the present application, the real-time power La of the unmanned mining vehicle when it reaches the first mining position D1 is obtained, and the remaining distance Ab of the unmanned mining vehicle is calculated according to the real-time power La;

[0080] Calculate the intermediate distance Ac between the first mining position D1 and the remaining mining positions Gi and the return distance Ad between the remaining mining positions Gi and the initial position;

[0081] Several secondary target mining locations that the unmanned mining vehicle can reach are determined based on the remaining distance Ab, the intermediate distance Ac and the return distance Ad.

[0082] In a specific embodiment of the present application, when determining the secondary target mining locations that the unmanned mining vehicle can reach according to the remaining distance Ab, the intermediate distance Ac and the return distance Ad, it specifically includes:

[0083] When Ac+Ad≤Ab, extract a number of remaining mining positions Gi corresponding to the return journey Ad as the secondary target mining positions, extract the priority level corresponding to the secondary target mining positions, and use the secondary target mining positions corresponding to the second priority level as the second mining position D2;

[0084] When Ac+Ad>Ab, a number of remaining mining positions Gi corresponding to the return distance Ad are used as abandoned mining positions.

[0085] In a specific embodiment of the present application, after the second mining position D2 is selected, the driving route K2 of the unmanned mining vehicle is determined and the driving speed E2 corresponding to the driving route K2 is preset, where E2=E1*vi;

[0086] When the unmanned mining vehicle is traveling on the driving route K2, a bump accumulation value VBI2 of the driving route K2 is obtained; a first preset adjustment coefficient f1, a second preset adjustment coefficient f2, a third preset adjustment coefficient f3, and a fourth preset adjustment coefficient f4 are preset, and 0.8<f1<f2<1<f3<f4<1.2;

[0087] When VBI2≥V1, the first preset adjustment coefficient f1 is selected to adjust the driving speed E2, and the adjusted driving speed is E2*f1;

[0088] When V1>VBI2≥V2, the second preset adjustment coefficient f2 is selected to adjust the driving speed E2, and the adjusted driving speed is E2*f2;

[0089] When V2>VBI2≥V3, the third preset adjustment coefficient f3 is selected to adjust the driving speed E2, and the adjusted driving speed is E2*f3;

[0090] When V3>VBI2≥V4, the fourth preset adjustment coefficient f4 is selected to adjust the driving speed E2, and the adjusted driving speed is E2*f4.

[0091] It can be understood that in this embodiment, the remaining distance Ab that the unmanned mine car can travel is calculated by the real-time power La, the intermediate distance Ac from the first mining position D1 to several remaining mining positions Gi and the return distance Ad from several remaining mining positions Gi to the initial position are calculated, and the mining positions that the unmanned mine car can reach and return are calculated based on the remaining distance Ab, the intermediate distance Ac, and the return distance Ad to form a secondary target mining position set, and then the mining position corresponding to the second priority is selected as the second mining position D2 according to the priority level corresponding to each mining position in the secondary mining target set. Among them, if there are multiple mining positions with the second priority, the mining position closest to the initial position of the unmanned mine car among the several second priority mining positions is selected as the second mining position D2, so as to ensure that the unmanned mine car can complete the mining of multiple minerals in the limited remaining driving distance, thereby improving the efficiency of mining multiple minerals. At the same time, after determining the second mining position D2, the driving route K2 of the unmanned mine car is determined, and the driving speed E2 of the driving route K2 is preset. When the unmanned mine car is driving on the driving route K2, the bump accumulation value VBI2 on the driving route K2 is collected, and the driving speed E2 is adjusted according to the bump accumulation value VBI2 to ensure the safety of the unmanned mine car.

[0092] In a specific embodiment of the present application, the real-time power Lb of the unmanned mining vehicle when it reaches the second mining position D2 is obtained, and the remaining distance Ae of the unmanned mining vehicle is calculated according to the real-time power Lb;

[0093] Calculate the intermediate distance Am between the second mining position D2 and the remaining mining positions Ki and the return distance An between the remaining mining positions Ki and the initial position;

[0094] Determine a number of third-level target mining locations that the unmanned mining vehicle can reach based on the remaining distance Ae, the intermediate distance Am and the return distance An;

[0095] When Am+An≤Ae, extract several remaining mining positions Ki corresponding to the return journey Ae as the third-level target mining positions, extract the priority levels corresponding to the third-level target mining positions, and use the third-level target mining positions corresponding to the third priority as the third mining position D3;

[0096] When Am+An>Ae, a number of remaining mining positions Ki corresponding to the return distance Ae are used as abandoned mining positions.

[0097] In a specific embodiment of the present application, after the third mining position D3 is selected, the driving route K3 of the unmanned mining vehicle is determined and the driving speed E3 corresponding to the driving route K3 is preset, where E3=E2*fi;

[0098] When the unmanned mining vehicle is traveling on the driving route K3, a bump accumulation value VBI3 of the driving route K3 is obtained; a first preset adjustment coefficient z1, a second preset adjustment coefficient z2, a third preset adjustment coefficient z3, and a fourth preset adjustment coefficient z4 are preset, and 0.8<z1<z2<1<z3<z4<1.2;

[0099] When VBI2≥V1, the first preset adjustment coefficient z1 is selected to adjust the driving speed E3, and the adjusted driving speed is E3*z1;

[0100] When V1>VBI2≥V2, the second preset adjustment coefficient z2 is selected to adjust the driving speed E3, and the adjusted driving speed is E3*z2;

[0101] When V2>VBI2≥V3, the third preset adjustment coefficient z3 is selected to adjust the driving speed E3, and the adjusted driving speed is E3*z3;

[0102] When V3>VBI2≥V4, the fourth preset adjustment coefficient z4 is selected to adjust the driving speed E3, and the adjusted driving speed is E3*z4.

[0103] It can be understood that in this embodiment, the remaining distance Ae that the unmanned mine car can travel is calculated by the real-time power Lb, the intermediate distance Am from the second mining position D2 to several remaining mining positions Ki and the return distance An from several remaining mining positions Ki to the initial position are calculated, and the mining positions that the unmanned mine car can reach and return are calculated according to the remaining distance Ae, the intermediate distance Am, and the return distance An to form a three-level target mining position set, and then the mining position corresponding to the third priority is selected as the third mining position D3 according to the priority level corresponding to each mining position in the three-level mining target set. Among them, if there are multiple mining positions with the third priority, the mining position closest to the initial position of the unmanned mine car among the several third priority mining positions is selected as the third mining position D3, so as to ensure that the unmanned mine car can complete the mining of multiple minerals in the limited remaining driving distance, thereby improving the efficiency of mining multiple minerals. At the same time, after determining the third mining position D3, the driving route K3 of the unmanned mine car is determined, and the driving speed E3 of the driving route K3 is preset. When the unmanned mine car is driving on the driving route K3, the bump accumulation value VBI3 on ​​the driving route K3 is collected, and the driving speed E3 is adjusted according to the bump accumulation value VBI3 to ensure the safety of the unmanned mine car.

[0104] In a specific embodiment of the present application, the driving plan information is received and stored and pushed, specifically including: saving the driving status information and mining environment information in real time and pushing the saved information, and the unmanned mining vehicle executes the driving plan information according to the push.

[0105] It can be understood that in this embodiment, the driving plan information is determined based on the driving status information and mining environment information of the unmanned mining vehicle, the driving plan information is received and stored and pushed, and the unmanned mining vehicle executes the driving plan according to the pushed information to improve the mining efficiency of various different minerals while reducing production costs.

[0106] Example 1

[0107] There are three different minerals in a certain symbiotic mine, namely A1, A2, and A3. The priority of mineral A1 is preset as the first priority, the priority of mineral A2 is the second priority, and the priority of mineral A3 is the third priority. At the same time, mineral A1 has three mining locations, namely A1-1, A1-2, and A1-3; mineral A2 has three mining locations, namely A2-1, A2-2, and A2-3; mineral A3 has three mining locations, namely A3-1, A3-2, and A3-3.

[0108] First, according to the theoretical distance Aa and the actual distance Bi, the mining positions that the unmanned mining car can reach and return are calculated to form a first-level target mining position set, and the mining position corresponding to the first priority is selected as the first mining position D1. When the first-level target mining positions include: A1-1, A1-2 and A2-1, the first priority corresponds to two mining positions, then the distances between the two driving routes from the two mining positions A1-1 and A1-2 to the initial position are compared. If A1-1 is closer to the initial position, A1-1 is selected as the first mining position D1; then, according to the remaining distance Ab, the intermediate distance Ac, and the return distance Ad, the mining positions that the unmanned mining car can reach and return are calculated to form a second-level target mining position set, and the mining position corresponding to the second priority is selected as the second mining position D2. When the second-level target mining positions include: A1-1, A2-1, A2-2 and A2-3, the unmanned The distance that the mine car takes to reach the mining positions corresponding to each second priority and return, if the distance to reach A2-1 and return is the shortest, A2-1 is selected as the second target mining position D2; then the mining positions that the unmanned mine car can reach and return are calculated according to the remaining distance Ae, the intermediate distance Am, and the return distance An to form a three-level target mining position set, and the mining position corresponding to the third priority is selected as the third mining position D3. When the three-level target mining positions include: A2-1, A3-2 and A3-3, the distance that the unmanned mine car takes to reach the mining positions corresponding to each third priority and return is compared. If the distance to reach A3-1 and return is the shortest, A3-1 is selected as the third target mining position D3; if there is no mining position that can be reached and returned when selecting the first target mining position D1, the second target mining position D2, and the third target mining position D3, the unmanned mine car returns directly.

[0109] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0110] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0111] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0112] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for managing data of an unmanned mining vehicle, characterized in that: include: Acquiring driving status information and mining area environment information of the unmanned mining vehicle; Determining a driving plan of the unmanned mining vehicle according to the driving state information and the mining area environment information; The driving state information includes: initial state information and traveling state information; The initial state information includes: initial position and initial power; The travel status information includes: travel speed E and real-time power L; The mining area environmental information includes: a number of preset mining routes and a number of mining locations; Priority levels are set in advance according to different mineral resources at the mining locations, and a number of corresponding priority levels are obtained according to a number of the mining locations. The priority levels are divided from high to low into: a first priority, a second priority, and a third priority, and the first priority is higher than the second priority, and the second priority is higher than the third priority; Receive the travel plan information and store and push it; When determining the driving plan of the unmanned mining vehicle according to the driving state information and the mining area environment information, it includes: Calculate the theoretical distance Aa of the unmanned mining vehicle according to the initial power; Obtaining the initial position of the unmanned mining vehicle and the several mining locations, determining the driving routes of the unmanned mining vehicle to the several mining locations Ci according to the mining route map of the mining area, i=1, 2, 3, ..., n, and calculating the actual distance Bi of each driving route, i=1, 2, 3, ..., n, Bi corresponds to Ci; Determine a number of primary target mining locations that the unmanned mining vehicle can reach based on the theoretical distance Aa and the actual distance Bi; When determining a number of primary target mining locations that the unmanned mining vehicle can reach based on the theoretical distance Aa and the actual distance Bi, it specifically includes: When (Aa / 2)>Bi, extract several mining positions Ci corresponding to the actual distance Bi as several first-level target mining positions, extract the priority levels corresponding to several first-level target mining positions, and use the first-level target mining position corresponding to the first priority as the first mining position D1; When (Aa / 2)≤Bi, the mining positions Ci corresponding to the actual distance Bi are used as abandoned mining positions; After the first mining location D1 is selected, the driving route K1 of the unmanned mining vehicle is determined and the driving speed E1 corresponding to the driving route K1 is preset; When the unmanned mining vehicle is traveling on the driving route K1, the bump accumulation value VBI1 of the driving route K1 is obtained, a first preset bump accumulation value V1, a second preset bump accumulation value V2, a third preset bump accumulation value V3, and a fourth preset bump accumulation value V4 are preset, and V1>V2>V3>V4; a first preset adjustment coefficient v1, a second preset adjustment coefficient v2, a third preset adjustment coefficient v3, and a fourth preset adjustment coefficient v4 are preset, and 0.8<v1<v2<1<v3<v4<1.2; When VBI1≥V1, the first preset adjustment coefficient v1 is selected to adjust the driving speed E1, and the adjusted driving speed is E1*v1; When V1>VBI1≥V2, the second preset adjustment coefficient v2 is selected to adjust the driving speed E1, and the adjusted driving speed is E1*v2; When V2>VBI1≥V3, the third preset adjustment coefficient v3 is selected to adjust the driving speed E1, and the adjusted driving speed is E1*v3; When V3>VBI1≥V4, the fourth preset adjustment coefficient v4 is selected to adjust the driving speed E1, and the adjusted driving speed is E1*v4; Acquire the real-time power La of the unmanned mining vehicle when it reaches the first mining location D1, and calculate the remaining distance Ab of the unmanned mining vehicle according to the real-time power La; Calculate the intermediate distance Ac between the first mining position D1 and the remaining mining positions Gi and the return distance Ad between the remaining mining positions Gi and the initial position; Determine a number of secondary target mining locations that the unmanned mining vehicle can reach based on the remaining distance Ab, the intermediate distance Ac, and the return distance Ad; When determining the secondary target mining locations that the unmanned mining vehicle can reach according to the remaining distance Ab, the intermediate distance Ac and the return distance Ad, it specifically includes: When Ac+Ad≤Ab, extract several remaining mining positions Gi corresponding to the return journey Ad as the secondary target mining positions, extract the priority level corresponding to the secondary target mining positions, and use the secondary target mining positions corresponding to the second priority level as the second mining position D2; When Ac+Ad>Ab, the remaining mining positions Gi corresponding to the return journey Ad are used as abandoned mining positions; After the second mining location D2 is selected, the driving route K2 of the unmanned mining vehicle is determined and the driving speed E2 corresponding to the driving route K2 is preset, where E2=E1*vi; When the unmanned mining vehicle is traveling on the driving route K2, a bump accumulation value VBI2 of the driving route K2 is obtained; a first preset adjustment coefficient f1, a second preset adjustment coefficient f2, a third preset adjustment coefficient f3, and a fourth preset adjustment coefficient f4 are preset, and 0.8<f1<f2<1<f3<f4<1.2; When VBI2≥V1, the first preset adjustment coefficient f1 is selected to adjust the driving speed E2, and the adjusted driving speed is E2*f1; When V1>VBI2≥V2, the second preset adjustment coefficient f2 is selected to adjust the driving speed E2, and the adjusted driving speed is E2*f2; When V2>VBI2≥V3, the third preset adjustment coefficient f3 is selected to adjust the driving speed E2, and the adjusted driving speed is E2*f3; When V3>VBI2≥V4, the fourth preset adjustment coefficient f4 is selected to adjust the driving speed E2, and the adjusted driving speed is E2*f4; Acquire the real-time power Lb of the unmanned mining vehicle when it reaches the second mining location D2, and calculate the remaining distance Ae of the unmanned mining vehicle according to the real-time power Lb; Calculate the intermediate distance Am between the second mining position D2 and the remaining mining positions Ki and the return distance An between the remaining mining positions Ki and the initial position; Determine a number of third-level target mining locations that the unmanned mining vehicle can reach based on the remaining distance Ae, the intermediate distance Am and the return distance An; When Am+An≤Ae, extract several remaining mining positions Ki corresponding to the return journey Ae as the third-level target mining positions, extract the priority levels corresponding to the third-level target mining positions, and use the third-level target mining positions corresponding to the third priority as the third mining position D3; When Am+An>Ae, a number of remaining mining positions Ki corresponding to the return journey Ae are used as abandoned mining positions; After the third mining position D3 is selected, the driving route K3 of the unmanned mining vehicle is determined and the driving speed E3 corresponding to the driving route K3 is preset, where E3=E2*fi; When the unmanned mining vehicle is traveling on the driving route K3, a bump accumulation value VBI3 of the driving route K3 is obtained; a first preset adjustment coefficient z1, a second preset adjustment coefficient z2, a third preset adjustment coefficient z3, and a fourth preset adjustment coefficient z4 are preset, and 0.8<z1<z2<1<z3<z4<1.2; When VBI2≥V1, the first preset adjustment coefficient z1 is selected to adjust the driving speed E3, and the adjusted driving speed is E3*z1; When V1>VBI2≥V2, the second preset adjustment coefficient z2 is selected to adjust the driving speed E3, and the adjusted driving speed is E3*z2; When V2>VBI2≥V3, the third preset adjustment coefficient z3 is selected to adjust the driving speed E3, and the adjusted driving speed is E3*z3; When V3>VBI2≥V4, the fourth preset adjustment coefficient z4 is selected to adjust the driving speed E3, and the adjusted driving speed is E3*z4.

2. The method for managing unmanned mining vehicle data according to claim 1, characterized in that: Receiving the driving plan information and storing and pushing it specifically includes: saving the driving state information and mining area environment information in real time and pushing the saved information, and the unmanned mining vehicle executes the driving plan information according to the push.

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