A method for monitoring the state of unmanned mine cars

Abstract

The present application provides a kind of unmanned mine car state monitoring method, comprising: planning vehicle fleet travel path, marking dangerous area of travel path;Different mine car dangerous area travel state data and non-dangerous area travel state data are monitored;Different mine car passes through cooperative monitoring and determines abnormal mine car in dangerous area and non-dangerous area;Vehicle fleet cooperatively controls abnormal mine car and normal mine car, ensures mine car safety;Based on the vehicle fleet after cooperative control, different vehicle fleet collision possibility is judged and adjusted, the threat of abnormal mine car to normal mine car is reduced, and the normal mine car in mine field is ensured orderly work.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine car monitoring, and particularly relates to a mine car state monitoring method. BACKGROUND

[0002] At present, the safety strategy research and development of the unmanned mine car is in the development stage, and more focuses on the improvement of the safety performance of the mine car electronic controller, the diagnosis of the whole vehicle system fault and the corresponding processing measures of the fault in the software and the like. Although these can well improve the safety of the unmanned mine car, for the mine field, in some extreme cases, once the fault occurs, the abnormal mine car may cause damage to other mine cars in the car team, and the abnormal mine car cannot be well controlled and managed.

[0003] Therefore, the present application provides a mine car state monitoring method. SUMMARY

[0004] The present application provides a mine car state monitoring method, which is used for planning the driving route of the mine car, determining the abnormal mine car based on the driving state data of different mine cars in different areas, and cooperatively controlling the mine cars in the car team based on the communication network to ensure the safety of the abnormal mine car and other mine cars in the car team.

[0005] The present application provides a mine car state monitoring method, which comprises:

[0006] Step 1: planning the driving path of the car team in the target mine field based on the current position and the target position of the car team;

[0007] Step 2: determining the dangerous area and the non-dangerous area in the driving path based on the road condition, adjusting and collecting the first state monitoring data of the mine car passing through the non-dangerous area and the second state monitoring data of the mine car passing through the dangerous area;

[0008] Step 3: determining the normal mine car in the non-dangerous area based on the first state monitoring data of different mine cars, and simultaneously determining the abnormal mine car in the dangerous area based on the second state monitoring data of different mine cars;

[0009] Step 4: performing abnormal analysis on the abnormal mine car in the dangerous area based on the first driving parameter of the normal mine car in the non-dangerous area, and determining the abnormal type of the corresponding abnormal mine car, wherein the abnormal type comprises the car itself abnormal type and the road abnormality leading to the mine car abnormal type;

[0010] Step 5: when the corresponding abnormal mine car is the car itself abnormal type, screening the main mine car from the normal mine car, and cooperatively controlling the corresponding abnormal mine car by the main mine car through the internal communication network of the car team.

[0011] Preferably, an unmanned mining truck status monitoring method plans the driving path of the convoy in the target mine based on the convoy's current location and target location, including:

[0012] Obtain the current location and target location of the convoy;

[0013] Obtain the mine map data of the target mine and mark the non-dangerous areas and dangerous areas on the mine map;

[0014] Based on the map annotation results, plan the driving route from the current location to the target location that passes through the least dangerous areas.

[0015] Preferably, an unmanned mining truck status monitoring method identifies hazardous and non-hazardous areas within the driving path, adjusts and collects first-state monitoring data when the mining truck passes through a non-hazardous area and second-state monitoring data when it passes through a hazardous area, including:

[0016] Based on the planned driving route, the road conditions of dangerous areas in the driving route are identified and the hazard categories of dangerous road sections are marked.

[0017] Based on the identification and labeling results, the maximum driving speed is planned for the corresponding danger zone;

[0018] When the mining car travels from the normal area to the danger area, a first speed adjustment command is issued to the mining car, and the current speed of the mining car traveling in the danger area is monitored to obtain second state monitoring data.

[0019] Meanwhile, when the mining truck is traveling in the normal area, the current speed of the mining truck is monitored and the first state monitoring data is obtained.

[0020] Preferably, an unmanned mining truck status monitoring method, based on second-state monitoring data of different mining trucks, identifies abnormal mining trucks within a hazardous area, including:

[0021] Based on the second state monitoring data of each first mining car in the same danger zone and the adjustment operation performed by the corresponding first mining car after receiving the first speed adjustment command after entering the same danger zone;

[0022] If the adjustment operation of the same first mine car is 0, and the second state monitoring data of the same first mine car are all within the upper limit speed standard range, then the corresponding first mine car is determined to be a normal mine car.

[0023] If the adjustment operation of the same first mine car is not 0, and the second state monitoring data of the same first mine car includes a speed conversion process, and the speed conversion process meets the upper limit speed conversion standard, then the corresponding first mine car is determined to be a normal mine car.

[0024] If the first state monitoring data of the same first mining truck is not within the upper limit speed standard range, the first driving trajectory of the corresponding first mining truck in the same dangerous area is captured, and the driving speed and driving time at each location point are marked on the first driving trajectory.

[0025] Based on time and location constraints, capture all road flow trajectories that are associated with the labeled trajectory, and analyze the interference relationship between all road flow trajectories and the labeled trajectory.

[0026] When the interference relationship meets the trajectory anomaly criteria, the corresponding first mining car is determined to be an abnormal mining car;

[0027] Otherwise, the first minecart is determined to be a normal minecart.

[0028] Preferably, a method for monitoring the status of unmanned mining trucks, wherein the main mining truck coordinates the control of corresponding abnormal mining trucks through the internal communication network of the fleet, including:

[0029] Identify the master mining car among the normal mining cars in the convoy, establish communication relationships between the master mining car and each of the remaining mining cars, and construct an internal communication network. This internal communication network issues different control commands based on the different anomaly types of the abnormal mining cars.

[0030] The abnormal mining truck is located at a first position based on the road it is traveling on. At the same time, the current braking information of the abnormal mining truck, the second position of the abnormal mining truck based on the convoy, and the current driving distribution of the convoy are obtained.

[0031] Based on the current braking information, a first safe distance from the abnormal mining truck is determined, and a first braking route is planned for the abnormal mining truck by combining the first position, the second position and the current driving distribution.

[0032] When there is one abnormal mining car in the convoy, the first braking route is taken as the route to be coordinated control of the abnormal mining car, and a first coordination command is issued to the mining car associated with the route to be coordinated control based on the main mining car.

[0033] When there are multiple abnormal mining trucks in the convoy, the point pass rate of each route position point in each first braking route is obtained, and the pass rate curve of the corresponding first braking route is constructed.

[0034] All throughput curves are aligned based on synchronization time to identify curve conflict points in the throughput curves and lock the second mining car that matches the curve conflict point, wherein the second mining car is a normal mining car present in the fleet.

[0035] Based on the location of the second mining car, the movable range of the second mining car is determined, and the remaining space after the movement is used to compensate for the curve conflict point.

[0036] If the compensation processing result meets the conflict elimination criteria, a set of instructions without conflict is generated, and a second collaborative instruction is issued to the abnormal mining cars included in the instruction set, and a third collaborative instruction is issued to the normal mining cars included in the instruction set.

[0037] If the compensation process does not meet the conflict resolution criteria, the curve conflict point will continue to be updated, and the new normal mining car will be locked until the conflict resolution criteria are met.

[0038] Preferably, a method for monitoring the status of unmanned mining trucks, comprising determining curve conflict points in a throughput curve and locking onto a second mining truck matching the curve conflict point, includes:

[0039] Based on the results of the synchronization time alignment process, the intersection point in the pass rate curve is locked;

[0040] Determine the number of intersections at each intersection point and determine the conflict value of the corresponding curve conflict point. ;

[0041] ;in, This indicates the number of intersections at the corresponding intersection point; This indicates the range of standards corresponding to the number of intersections M0 with the standard; Indicates based on the filter range The initial conflict value; Indicates the filter range Mapping relationship with the range-conflict table; This represents the optimization coefficient for the initial conflict value, and ,in, This indicates the current density of mining trucks within the corresponding filter range; This indicates the standard mine car density that matches the screening range.

[0042] Based on the conflict value From the value-range-minecar database, lock the second minecart that matches the conflict point of the corresponding curve.

[0043] Preferably, a method for monitoring the status of unmanned mining trucks, after the main mining truck coordinates the control of the corresponding abnormal mining trucks through the internal communication network of the fleet, further includes:

[0044] Based on the planned routes of the fleet after different cooperative control, the intersection of different planned routes and the distance between the fleet and the intersecting routes are determined;

[0045] Based on the convoy position, the overall convoy length, and the overall convoy speed, the time interval for each convoy after coordinated control to pass through the intersection of the paths is determined.

[0046] If the time intervals of the convoys after coordinated control overlap, or the difference in time intervals of convoys after different coordinated control is less than the safe braking time, then a collision is deemed possible, and a collision avoidance warning is required.

[0047] When a collision is possible, a comprehensive calculation is performed based on the fleet data of each fleet under coordinated control, and the fleet priority of each fleet under coordinated control is determined based on the comprehensive calculation results.

[0048] Preferably, a method for monitoring the status of unmanned mining trucks involves comprehensive calculation based on fleet data from various coordinated control systems, including:

[0049] ;in, The comprehensive calculation value of the fleet after corresponding coordinated control is given, where n is the number of mining trucks in the fleet after coordinated control, and α and β represent the weights of the overall mining truck loading and energy consumption of the fleet in the comprehensive calculation process, respectively. The weight of the mining truck loading is related to the type of cargo being loaded, and... This indicates the loading status of the i-th minecart in the corresponding convoy. When it is empty, the value is 0, and when it is not empty, the value is 1. This represents the consumption of the i-th minecart in the corresponding convoy during the process from running to stopping, with a value range of (0, 1).

[0050] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0051] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0052] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0053] Figure 1 This is a flowchart of the unmanned mining vehicle status monitoring and control method in an embodiment of the present invention. Detailed Implementation

[0054] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0055] Example 1

[0056] This invention provides a method for monitoring the status of unmanned mining trucks, such as... Figure 1 As shown, it includes:

[0057] Step 1: Based on the convoy's current location and target location, plan the convoy's driving route in the target mine;

[0058] Step 2: Based on road conditions, identify dangerous and non-dangerous areas within the driving path, and adjust and collect the first state monitoring data when the mining truck passes through the non-dangerous area and the second state monitoring data when it passes through the dangerous area;

[0059] Step 3: Based on the first state monitoring data of different mining trucks, identify the normal mining trucks in the non-dangerous area; at the same time, based on the second state monitoring data of different mining trucks, identify the abnormal mining trucks in the dangerous area.

[0060] Step 4: Based on the first driving parameters of normal mining trucks in non-dangerous areas in dangerous areas, perform anomaly analysis on abnormal mining trucks in dangerous areas to determine the anomaly type of the corresponding abnormal mining truck. The anomaly type includes: the abnormal type of the vehicle itself and the abnormal type of the mining truck caused by road anomaly.

[0061] Step 5: When the abnormal mining car is of the abnormal type itself, select the main mining car from the normal mining cars, and the main mining car coordinates the control of the corresponding abnormal mining car through the internal communication network of the fleet.

[0062] In this embodiment, after the convoy has finished loading or unloading, the position of the first mining car that has completed loading or unloading is regarded as the position of the convoy.

[0063] In this embodiment, based on the mine map and historical traffic database, areas where multiple traffic accidents have occurred are identified as dangerous areas, meaning that a driving route contains both dangerous and non-dangerous areas.

[0064] In this embodiment, when passing through dangerous and non-dangerous areas, reminding and adjusting the mine car includes: when the mine car enters a dangerous area from a non-dangerous area, reminding the mine car to adjust its speed, limit its gear, and prepare to turn in advance based on the road conditions in the dangerous area, so as to ensure the safety of the mine car;

[0065] After the mining truck moves from a dangerous area to a non-dangerous area, remind the mining truck to return to the non-dangerous area driving mode;

[0066] In this embodiment, the first state monitoring data of the mining truck is based on the monitoring of the actual driving speed of the mining truck by the unmanned driving domain controller and the mining truck multi-sensor. Abnormal mining trucks in non-dangerous areas are directly identified by abnormal data in different mining truck driving speeds, and the abnormal mining truck is caused by the abnormality of the mining truck itself, which leads to the abnormal monitoring data.

[0067] In this embodiment, after identifying the abnormality of the mining truck through the second state monitoring data, it is necessary to collect the second state monitoring data of the normal mining truck driving in the dangerous area in the non-dangerous area. Based on the second state monitoring data of the normal mining truck in the dangerous area, the abnormality type of the abnormal mining truck is judged. If the second state monitoring data of the normal mining truck is abnormal, the road is judged to be abnormal. If the second state monitoring data of the normal mining truck is not abnormal, it indicates that the mining truck itself is abnormal.

[0068] In this embodiment, if a road anomaly occurs, the mining trucks will adjust according to the road conditions. If a mining truck itself becomes abnormal, the fleet will be coordinated and controlled based on the abnormal mining truck.

[0069] In this embodiment, the main mining car is usually selected as the first normal mining car behind the abnormal mining car, which can monitor the status of the abnormal mining car in real time and react promptly to the danger caused by the sudden adjustment of the abnormal mining car.

[0070] In this embodiment, the internal communication network consists of all vehicle-mounted communication devices within the fleet. The main mining truck uses the internal communication network to control other mining trucks in the fleet, controlling the braking of any abnormal mining trucks. Normal mining trucks adjust their routes based on the braking information of abnormal mining trucks to ensure the safety of the mining trucks. When the road is abnormal, the driving status of the abnormal mining trucks is adjusted, and based on the adjustment information of the abnormal mining trucks, the mining trucks that are about to reach the abnormal position behind are adjusted in advance to ensure the safety of the fleet.

[0071] The beneficial effects of the above technical solution are: by planning the driving route of the mining truck fleet, by monitoring the driving status data of mining trucks in different driving areas within the fleet, abnormal mining trucks can be identified, and by the fleet's coordinated control of abnormal mining trucks, the coordinated monitoring and resolution of abnormal mining trucks can be achieved, thereby improving the safety of the mining truck fleet within the mine.

[0072] Example 2

[0073] This invention provides a method for monitoring the status of unmanned mining trucks, including: determining dangerous and non-dangerous areas within the driving path, adjusting and collecting first status monitoring data of the mining truck passing through a non-dangerous area and second status monitoring data of the mining truck passing through a dangerous area, the method being as follows:

[0074] Based on the planned driving route, the road conditions of dangerous areas in the driving route are identified and the hazard categories of dangerous road sections are marked.

[0075] Based on the identification and labeling results, the maximum driving speed is planned for the corresponding danger zone;

[0076] When the mining car travels from the normal area to the danger area, a first speed adjustment command is issued to the mining car, and the current speed of the mining car traveling in the danger area is monitored to obtain second state monitoring data.

[0077] Meanwhile, when the mining truck is traveling in the normal area, the current speed of the mining truck is monitored and the first state monitoring data is obtained.

[0078] In this embodiment, based on the historical traffic accident database, historical traffic accidents that occurred in dangerous areas are obtained, and the historical traffic accidents are analyzed to determine and summarize the causes of the traffic accidents. Then, based on the summary results, the danger category of the dangerous road section is determined, and the danger category is marked in the corresponding dangerous area.

[0079] In this embodiment, the actual driving speed of the mining truck in the non-dangerous area is recorded as the first state monitoring data, and after the mining truck adjusts its speed in the dangerous area, the adjusted actual driving speed is recorded as the second state monitoring data.

[0080] In this embodiment, the upper limit speed represents the maximum speed at which a fully loaded mining truck can safely travel in the dangerous area. When the upper limit speed is exceeded, there is a significant risk to the mining truck traveling in the dangerous area.

[0081] In this embodiment, the first speed adjustment command controls the speed of the mine car by setting a gear limit strategy. The forward gears of the mine car are set to low gears, namely gears 1, 2, and 3, which are the limiting gears. Gear 1 corresponds to a speed threshold v1, gear 2 corresponds to a speed threshold v2, and gear 3 corresponds to a speed threshold v3. The safe speed threshold is determined by the upper limit driving speed. After the safe speed threshold is determined, the gear of the mine car is limited to the gear corresponding to the speed threshold. The actual speed of the mine car does not exceed the corresponding threshold speed. That is, after the mine car travels from the normal area to the danger area, the process of issuing a command and adjusting the speed of the vehicle according to the command is analyzed as a criterion for judging whether the vehicle is abnormal.

[0082] The beneficial effects of the above technical solution are: it can be used to plan different areas of the driving path, monitor and classify the driving data of mining trucks, realize the collaborative monitoring of abnormal mining trucks in the fleet, and improve the speed and accuracy of the fleet in identifying abnormal mining trucks.

[0083] Example 3

[0084] This invention provides a method for monitoring the status of unmanned mining trucks, including: determining abnormal mining trucks within a dangerous area based on second-state monitoring data of different mining trucks, the method being as follows:

[0085] Based on the second state monitoring data of each first mining car in the same danger zone and the adjustment operation performed by the corresponding first mining car after receiving the first speed adjustment command after entering the same danger zone;

[0086] If the adjustment operation of the same first mine car is 0, and the second state monitoring data of the same first mine car are all within the upper limit speed standard range, then the corresponding first mine car is determined to be a normal mine car.

[0087] If the adjustment operation of the same first mine car is not 0, and the second state monitoring data of the same first mine car includes a speed conversion process, and the speed conversion process meets the upper limit speed conversion standard, then the corresponding first mine car is determined to be a normal mine car.

[0088] If the first state monitoring data of the same first mining truck is not within the upper limit speed standard range, the first driving trajectory of the corresponding first mining truck in the same dangerous area is captured, and the driving speed and driving time at each location point are marked on the first driving trajectory.

[0089] Based on time and location constraints, capture all road flow trajectories that are associated with the labeled trajectory, and analyze the interference relationship between all road flow trajectories and the labeled trajectory.

[0090] When the interference relationship meets the trajectory anomaly criteria, the corresponding first mining car is determined to be an abnormal mining car;

[0091] Otherwise, the first minecart is determined to be a normal minecart.

[0092] In this embodiment, the mining truck that enters the danger zone within the convoy is identified as the first mining truck;

[0093] In this embodiment, an adjustment operation of 0 indicates that the first mine car enters the dangerous area and the mine car still travels in the non-dangerous area without speed adjustment. When the adjustment operation is not zero, it means that the vehicle's driving state was adjusted during the process of the mine car entering the dangerous area from the non-dangerous area. It is necessary to judge the abnormal mine car based on the state data during the adjustment process and the mine car state data after the adjustment.

[0094] In this embodiment, the speed conversion process refers to the speed adjustment process of the mine car when it enters the dangerous area from the non-dangerous area, that is, the speed will be adjusted in the non-dangerous area according to the issued instructions;

[0095] In this embodiment, the second state monitoring data includes the speed conversion process, which refers to the speed change of the mine car during its travel in the dangerous area. If the speed change range does not exceed the upper limit speed conversion standard, that is, the maximum range of speed change in the dangerous area, the mine car is judged to be normal.

[0096] In this embodiment, if the speed of the first mining truck exceeds the upper limit speed standard range of the dangerous area in the non-dangerous area, the speed of the first mining truck needs to be adjusted. The mining truck needs to identify the first driving trajectory. The time at different positions in the driving trajectory and the speed of the mining truck are used to determine whether the mining truck has abnormal behavior, and then determine whether the mining truck is abnormal.

[0097] In this embodiment, the road flow trajectory refers to the trajectory that intersects or overlaps with the marked trajectory at certain times. Under normal circumstances, it is necessary to avoid intersections and overlaps at the same time to prevent collisions. Each mine car has its pre-planned path. Once there is an intersection or overlap, it can indirectly reflect that the driving of some mine cars is abnormal.

[0098] The beneficial effects of the above technical solution are: by monitoring the adjustment behavior and driving trajectory of different mining trucks entering dangerous areas, it is possible to confirm whether there are abnormal behaviors and driving trajectories of the mining trucks, thereby judging the abnormality of the mining trucks. This improves the speed of monitoring abnormal mining trucks, ensures that the fleet can control abnormal mining trucks in a timely manner, and improves the safety of the fleet.

[0099] Example 4

[0100] This invention provides a method for monitoring the status of unmanned mining trucks, comprising: the main mining truck coordinating control of corresponding abnormal mining trucks through the internal communication network of the fleet, the method being as follows:

[0101] Identify the master mining car among the normal mining cars in the convoy, establish communication relationships between the master mining car and each of the remaining mining cars, and construct an internal communication network. This internal communication network issues different control commands based on the different anomaly types of the abnormal mining cars.

[0102] The abnormal mining truck is located at a first position based on the road it is traveling on. At the same time, the current braking information of the abnormal mining truck, the second position of the abnormal mining truck based on the convoy, and the current driving distribution of the convoy are obtained.

[0103] Based on the current braking information, a first safe distance from the abnormal mining truck is determined, and a first braking route is planned for the abnormal mining truck by combining the first position, the second position and the current driving distribution.

[0104] When there is one abnormal mining car in the convoy, the first braking route is taken as the route to be coordinated control of the abnormal mining car, and a first coordination command is issued to the mining car associated with the route to be coordinated control based on the main mining car.

[0105] When there are multiple abnormal mining trucks in the convoy, the point pass rate of each route position point in each first braking route is obtained, and the pass rate curve of the corresponding first braking route is constructed.

[0106] All throughput curves are aligned based on synchronization time to identify curve conflict points in the throughput curves and lock the second mining car that matches the curve conflict point, wherein the second mining car is a normal mining car present in the fleet.

[0107] Based on the location of the second mining car, the movable range of the second mining car is determined, and the remaining space after the movement is used to compensate for the curve conflict point.

[0108] If the compensation processing result meets the conflict elimination criteria, a set of instructions without conflict is generated, and a second collaborative instruction is issued to the abnormal mining cars included in the instruction set, and a third collaborative instruction is issued to the normal mining cars included in the instruction set.

[0109] If the compensation process does not meet the conflict resolution criteria, the curve conflict point will continue to be updated, and the new normal mining car will be locked until the conflict resolution criteria are met.

[0110] The process of identifying the curve conflict point in the throughput curve and locking the second mining car that matches the curve conflict point includes:

[0111] Based on the results of the synchronization time alignment process, the intersection point in the pass rate curve is locked;

[0112] Determine the number of intersections at each intersection point and determine the conflict value of the corresponding curve conflict point. ;

[0113] ;in, This indicates the number of intersections at the corresponding intersection point; This indicates the range of standards corresponding to the number of intersections M0 with the standard; Indicates based on the filter range The initial conflict value; Indicates the filter range Mapping relationship with the range-conflict table; This represents the optimization coefficient for the initial conflict value, and ,in, This indicates the current density of mining trucks within the corresponding filter range; This indicates the standard mine car density that matches the screening range.

[0114] Based on the conflict value From the value-range-minecar database, lock the second minecart that matches the conflict point of the corresponding curve.

[0115] In this embodiment, the main mining car is selected from the normal mining cars that can monitor the driving status of abnormal mining cars in real time. When there are multiple abnormal mining cars, the mining car that receives and sends data the fastest is selected as the main mining car.

[0116] In this embodiment, the mining trucks in the fleet have onboard communication equipment, and the onboard communication equipment is interconnected to form an internal communication network for the fleet.

[0117] In this embodiment, different control commands are issued based on the different types of abnormal mine cars: when the road is abnormal, a control command is issued to adjust the speed and travel path of the abnormal mine car; when the mine car itself is abnormal, a control command is issued to coordinate the braking of the abnormal mine car.

[0118] In this embodiment, the first position refers to the location information of the abnormal mining truck on the driving path. The first position of the mining truck is determined by identifying the map position and the environmental information by the vehicle camera. The second position refers to the position of the abnormal mining truck in the fleet. The second position is identified through the internal communication network. The braking information includes braking time and braking distance.

[0119] In this embodiment, the first safe distance refers to the safe distance that a normal mine car should maintain from an abnormal mine car after the mine car malfunctions, or the distance that the abnormal mine car travels from the time it is identified as abnormal to the time it is braked.

[0120] In this embodiment, the driving distribution of the convoy includes the positional distribution of the remaining mining cars in the convoy, excluding abnormal mining cars, along the driving path.

[0121] In this embodiment, the route to be coordinated and controlled refers to the braking route planned by the abnormal mining car, and the mining car associated with the route to be coordinated and controlled refers to the normal mining car that needs to adjust its path and speed after the abnormal mining car starts braking. Under normal circumstances, it is the normal mining car behind the abnormal mining car in the convoy. After the coordination identification is completed, the first coordination control command is issued to the abnormal mining car and the mining car to be coordinated. The main mining car identifies the status of the abnormal mining car. When the abnormal mining car starts braking according to the braking route, the normal mining car avoids the abnormal mining car based on the braking data of the abnormal mining car.

[0122] In this embodiment, the throughput refers to the situation where, after the abnormal mine car starts braking, it can travel along the first braking route without colliding with other vehicles. This is because each position point in the first braking route has a throughput for the abnormal mine car, and the value ranges from 0 to 100%. By plotting the throughput of each position point according to the position point of the first braking route, the throughput curve is obtained.

[0123] In this embodiment, the throughput curve based on synchronous time alignment refers to whether a conflict will occur during the emergency stop of different abnormal mining cars. When there is an abnormal mining car, a braking route needs to be planned for the abnormal mining car to ensure that the abnormal vehicle travels to a position that does not interfere with the overall operation of the convoy. However, when there are multiple abnormal mining cars, since they may appear at the same time or at different times, it is necessary to sort the throughput curves to determine whether there are conflict points on the throughput curves, that is, conflicts between normal mining cars and abnormal mining cars, or conflicts between different braking routes, etc. The intersection point of the curves refers to the intersection in position.

[0124] In this embodiment, when there is a conflict point in the throughput curve, the normal mining truck with the conflict point identifies the road information, determines the road range in which the mining truck can move laterally, and moves accordingly. The lateral movement distance of the mining truck on the road and the lateral movement space are used as compensation to calculate the throughput of the curve after the lateral movement of the mining truck. If there is no conflict point between the throughput of the curves after compensation calculation, it is determined that the conflict elimination standard is met. The compensation is mainly to provide more space for abnormal mining trucks to brake more easily and to ensure the safety of the convoy.

[0125] In this embodiment, if there is no curve conflict point after the second mine car is moved based on the pass rate curve, the normal mine car can be excluded from the second mine car, the next second mine car can be found, and the current operation can be repeated.

[0126] In this embodiment, the instruction set includes abnormal mining cars and normal mining cars that need to adjust their status when the abnormal mining cars brake, usually normal mining cars behind the abnormal mining cars in the convoy.

[0127] In this embodiment, the second collaborative instruction refers to the internal communication network issuing braking instructions to all abnormal mining cars in the fleet, and the abnormal mining cars braking based on the braking path;

[0128] In this embodiment, the third collaborative instruction refers to the instruction issued by the internal communication network to the normal mining truck behind the abnormal mining truck in the convoy, ordering the normal mining truck to avoid the abnormal mining truck based on the braking path of the abnormal mining truck, so as to ensure the safe passage of the normal mining truck.

[0129] The beneficial effects of the above technical solution are: by planning the braking route of abnormal mine cars and calculating the pass rate and conflict value of normal mine cars, the fleet can coordinate the control of abnormal mine cars and normal mine cars, which improves the safety of the fleet's mine cars, avoids the danger to other normal mine cars in the fleet caused by the braking of abnormal mine cars, and ensures the safety of the fleet.

[0130] Example 5

[0131] This invention provides a method for monitoring the status of unmanned mining trucks, which further includes:

[0132] Based on the planned routes of the fleet after different cooperative control, the intersection of different planned routes and the distance between the fleet and the intersecting routes are determined;

[0133] Based on the convoy position, the overall convoy length, and the overall convoy speed, the time interval for each convoy after coordinated control to pass through the intersection of the paths is determined.

[0134] If the time intervals of the convoys after coordinated control overlap, or the difference in time intervals of convoys after different coordinated control is less than the safe braking time, then a collision is deemed possible, and a collision avoidance warning is required.

[0135] When there is a possibility of collision, a comprehensive calculation is performed based on the fleet data of each fleet after coordinated control, and the fleet priority of each fleet after coordinated control is determined based on the comprehensive calculation results.

[0136] A comprehensive calculation is performed based on the fleet data after each coordinated control of the fleet, including:

[0137] ;in, The comprehensive calculation value of the fleet after corresponding coordinated control is given, where n is the number of mining trucks in the fleet after coordinated control, and α and β represent the weights of the overall mining truck loading and energy consumption of the fleet in the comprehensive calculation process, respectively. The weight of the mining truck loading is related to the type of cargo being loaded, and... This indicates the loading status of the i-th minecart in the corresponding convoy. When it is empty, the value is 0, and when it is not empty, the value is 1. This represents the consumption of the i-th minecart in the corresponding convoy during the process from running to stopping, with a value range of (0, 1).

[0138] In this embodiment, different vehicle fleets use on-board communication equipment to detect and transmit information to mining trucks from different fleets in the vicinity. When a mining truck connects with a mining truck that is not in its own fleet, it indicates that there are other fleets nearby.

[0139] In this embodiment, the convoy is considered as a whole, and the speed of the whole is represented by the speed of the last mining car in the convoy;

[0140] In this embodiment, the overall length of the convoy includes the length of all mining trucks in the convoy and the distance between all mining trucks. The time for the first mining truck in the convoy to arrive at the intersecting path is calculated based on the convoy position and the overall convoy speed. The time for the last mining truck in the convoy to leave the intersecting path is calculated based on the overall length of the convoy. This calculated time is regarded as the time interval for the convoy to pass through the intersecting path.

[0141] In this embodiment, the safe braking time refers to the time it takes for the mine car to brake from its normal speed to zero under safe conditions. Due to different road conditions, the acceleration during safe braking deceleration also varies, but it is usually set to 60% of the theoretical maximum braking deceleration of an automated mine car.

[0142] In this embodiment, calculations are performed based on the number of mining trucks in the fleet, loading status, and mining truck consumption. After the calculations are completed, the magnitude of the comprehensive calculation value of different fleets is determined. The larger the comprehensive calculation value, the higher the priority of the fleet.

[0143] The beneficial effects of the above technical solution are: by calculating the probability of collisions between different vehicle fleets and by comprehensively evaluating the vehicle fleets, different vehicle fleets can be controlled in a coordinated manner, so that the mining trucks can drive in an orderly manner within the mine and ensure the safety of different mining trucks within the mine.

[0144] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for monitoring the status of an unmanned mining truck, characterized in that: include: Step 1: Based on the convoy's current location and target location, plan the convoy's driving route in the target mine; Step 2: Based on road conditions, identify dangerous and non-dangerous areas within the driving path, and adjust and collect the first state monitoring data when the mining truck passes through the non-dangerous area and the second state monitoring data when it passes through the dangerous area; Step 3: Based on the first state monitoring data of different mining trucks, identify the normal mining trucks in the non-dangerous area; at the same time, based on the second state monitoring data of different mining trucks, identify the abnormal mining trucks in the dangerous area. Step 4: Based on the first driving parameters of normal mining trucks in non-dangerous areas in dangerous areas, perform anomaly analysis on abnormal mining trucks in dangerous areas to determine the anomaly type of the corresponding abnormal mining truck. The anomaly type includes: the abnormal type of the vehicle itself and the abnormal type of the mining truck caused by road anomaly. Step 5: When the abnormal mining car is of the abnormal type itself, select the main mining car from the normal mining cars, and the main mining car coordinates the control of the corresponding abnormal mining car through the internal communication network of the fleet.

2. The method according to claim 1, characterized in that, Based on the convoy's current location and target location, plan the convoy's driving route in the target mine, including: Obtain the current location and target location of the convoy; Obtain the mine map data of the target mine and mark the non-dangerous areas and dangerous areas on the mine map; Based on the map annotation results, plan the driving route from the current location to the target location that passes through the least dangerous areas.

3. The method according to claim 1, characterized in that, Identify hazardous and non-hazardous areas within the driving path, adjust and collect first-state monitoring data when the mining truck passes through a non-hazardous area and second-state monitoring data when it passes through a hazardous area, including: Based on the planned driving route, the road conditions of dangerous areas in the driving route are identified and the hazard categories of dangerous road sections are marked. Based on the identification and labeling results, the maximum driving speed is planned for the corresponding danger zone; When the mining car travels from the normal area to the danger area, a first speed adjustment command is issued to the mining car, and the current speed of the mining car traveling in the danger area is monitored to obtain second state monitoring data. Meanwhile, when the mining truck is traveling in the normal area, the current speed of the mining truck is monitored and the first state monitoring data is obtained.

4. The method according to claim 1, characterized in that, Based on the second-state monitoring data of different mining trucks, abnormal mining trucks within the danger zone are identified, including: Based on the second state monitoring data of each first mining car in the same danger zone and the adjustment operation performed by the corresponding first mining car after receiving the first speed adjustment command after entering the same danger zone; If the adjustment operation of the same first mine car is 0, and the second state monitoring data of the same first mine car are all within the upper limit speed standard range, then the corresponding first mine car is determined to be a normal mine car. If the adjustment operation of the same first mine car is not 0, and the second state monitoring data of the same first mine car includes a speed conversion process, and the speed conversion process meets the upper limit speed conversion standard, then the corresponding first mine car is determined to be a normal mine car. If the first state monitoring data of the same first mining truck is not within the upper limit speed standard range, the first driving trajectory of the corresponding first mining truck in the same dangerous area is captured, and the driving speed and driving time at each location point are marked on the first driving trajectory. Based on time and location constraints, capture all road flow trajectories that are associated with the labeled trajectory, and analyze the interference relationship between all road flow trajectories and the labeled trajectory. When the interference relationship meets the trajectory anomaly criteria, the corresponding first mining car is determined to be an abnormal mining car; Otherwise, the first minecart is determined to be a normal minecart.

5. The method according to claim 1, characterized in that, The main mining truck coordinates the control of corresponding abnormal mining trucks through the fleet's internal communication network, including: Identify the master mining car among the normal mining cars in the convoy, establish communication relationships between the master mining car and each of the remaining mining cars, and construct an internal communication network. This internal communication network issues different control commands based on the different anomaly types of the abnormal mining cars. The abnormal mining truck is located at a first position based on the road it is traveling on. At the same time, the current braking information of the abnormal mining truck, the second position of the abnormal mining truck based on the convoy, and the current driving distribution of the convoy are obtained. Based on the current braking information, a first safe distance from the abnormal mining truck is determined, and a first braking route is planned for the abnormal mining truck by combining the first position, the second position and the current driving distribution. When there is one abnormal mining car in the convoy, the first braking route is taken as the route to be coordinated control of the abnormal mining car, and a first coordination command is issued to the mining car associated with the route to be coordinated control based on the main mining car. When there are multiple abnormal mining trucks in the convoy, the point pass rate of each route position point in each first braking route is obtained, and the pass rate curve of the corresponding first braking route is constructed. All throughput curves are aligned based on synchronization time to identify curve conflict points in the throughput curves and lock the second mining car that matches the curve conflict point, wherein the second mining car is a normal mining car present in the fleet. Based on the location of the second mining car, the movable range of the second mining car is determined, and the remaining space after the movement is used to compensate for the curve conflict point. If the compensation processing result meets the conflict elimination criteria, a set of instructions without conflict is generated, and a second collaborative instruction is issued to the abnormal mining cars included in the instruction set, and a third collaborative instruction is issued to the normal mining cars included in the instruction set. If the compensation process does not meet the conflict resolution criteria, the curve conflict point will continue to be updated, and the new normal mining car will be locked until the conflict resolution criteria are met.

6. The method according to claim 5, characterized in that, Identifying the curve conflict point in the throughput curve and locking the second mine car that matches the curve conflict point includes: Based on the results of the synchronization time alignment process, the intersection point in the pass rate curve is locked; Determine the number of intersections at each intersection point and determine the conflict value of the corresponding curve conflict point. ; ;in, This indicates the number of intersections at the corresponding intersection point; This indicates the range of standards corresponding to the number of intersections M0 with the standard; Indicates based on the filter range The initial conflict value; Indicates the filter range Mapping relationship with the range-conflict table; This represents the optimization coefficient for the initial conflict value, and ,in, This indicates the current density of mining trucks within the corresponding filter range; This indicates the standard mine car density that matches the screening range. Based on the conflict value From the value-range-minecar database, lock the second minecart that matches the conflict point of the corresponding curve.

7. The method according to claim 1, characterized in that, After the main mining truck coordinates the control of the corresponding abnormal mining trucks through the fleet's internal communication network, the system further includes: Based on the planned routes of the fleet after different cooperative control, the intersection of different planned routes and the distance between the fleet and the intersecting routes are determined; Based on the convoy position, the overall convoy length, and the overall convoy speed, the time interval for each convoy after coordinated control to pass through the intersection of the paths is determined. If the time intervals of the convoys after coordinated control overlap, or the difference in time intervals of convoys after different coordinated control is less than the safe braking time, then a collision is deemed possible, and a collision avoidance warning is required. When a collision is possible, a comprehensive calculation is performed based on the fleet data of each fleet under coordinated control, and the fleet priority of each fleet under coordinated control is determined based on the comprehensive calculation results.

8. The method according to claim 7, characterized in that, A comprehensive calculation is performed based on the fleet data after each coordinated control of the fleet, including: ;in, The comprehensive calculation value of the fleet after corresponding coordinated control is given, where n is the number of mining trucks in the fleet after coordinated control, and α and β represent the weights of the overall mining truck loading and energy consumption of the fleet in the comprehensive calculation process, respectively. The weight of the mining truck loading is related to the type of cargo being loaded, and... This indicates the loading status of the i-th minecart in the corresponding convoy. When it is empty, the value is 0, and when it is not empty, the value is 1. This represents the consumption of the i-th minecart in the corresponding convoy during the process from running to stopping, with a value range of (0, 1).

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