A mine unmanned transportation system and its continuous operation device and method.

Abstract

This invention discloses an unmanned mining transportation system and its continuous ground-loading operation device and method. The continuous ground-loading operation device of the unmanned mining transportation system includes a ground-loading unloading control unit, a ground-loading unloading execution unit, and a ground-loading loading execution unit. The ground-loading unloading control unit is used to divide the ground-loading operation area into area A and area B. The ground-loading unloading execution unit controls the ground-loading equipment to alternately perform ground-loading operations between area A and area B. The ground-loading loading execution unit controls the ground-loading equipment to alternately perform ground-loading operations between area A and area B. This invention ensures continuous unloading operations of unmanned mining cars in the ground-loading area of ​​open-pit coal mines, while also ensuring continuous and uninterrupted ground-loading.

Description

Technical Field

[0001] This invention belongs to the field of unmanned transportation technology in mines, specifically relating to an unmanned transportation system for mines and its continuous operation device and method. Background Technology

[0002] With the rapid development of technologies such as autonomous driving, 5G communication, artificial intelligence, and cloud computing, unmanned transportation systems in open-pit mines have experienced rapid growth, with solutions being implemented and operational in major open-pit mines across China. Unmanned transportation systems can effectively reduce labor costs, improve production efficiency, and ensure the safety of mine workers. An unmanned transportation system consists of a wireless network communication system (4G, 5G, wireless Mesh, etc.), a fleet management system located in the control center, unmanned mining dump trucks, loading auxiliary equipment (excavators, electric shovels, etc.), unloading auxiliary equipment (bulldozers, loaders, etc.), road maintenance auxiliary equipment (graders, water trucks, etc.), and service vehicles (pickup trucks, etc.).

[0003] Current technologies lack continuous operation solutions related to the unloading and loading of coal for local sales in unmanned transportation systems. In scenarios involving manned unloading, once the local coal yard is full, unloading operations must cease, awaiting the clearing of the site for local sales transportation. Ensuring continuous unloading operations for unmanned mining vehicles in the local sales area of ​​open-pit coal mines, and ensuring uninterrupted loading of coal for local sales, are problems that need to be solved in unmanned transportation systems. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an unmanned mining transportation system and its continuous ground sales operation device and method, which ensures continuous unloading operations of unmanned mining trucks in the ground sales area of ​​open-pit coal mines, while also ensuring continuous and uninterrupted ground sales loading.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, a continuous ground-loading operation device for an unmanned mining transportation system is provided, comprising a ground-loading unloading control unit, a ground-loading unloading execution unit, and a ground-loading loading execution unit; the ground-loading unloading control unit is used to divide the ground-loading operation area into area A and area B; the ground-loading unloading execution unit controls the ground-loading equipment to alternately perform ground-loading operations between area A and area B; the ground-loading loading execution unit controls the ground-loading equipment to alternately perform ground-loading operations between area A and area B.

[0007] Furthermore, the ground-mounted unloading control unit includes: a ground-mounted unloading point generation module, a ground-mounted unloading point status management module, and a ground-mounted unloading control module; the ground-mounted unloading point generation module is used to set several unloading points in area A and area B respectively; the ground-mounted unloading point status management module is used to update the current status of each unloading point; the ground-mounted unloading control module is used to control the unloading process of the unmanned mining vehicle according to the current status of each unloading point, and to set the attributes of area A and area B; wherein, the unmanned mining vehicle includes ground-mounted unloading equipment and ground-mounted loading equipment.

[0008] Furthermore, the current status of the unloading point includes: Unused: The local sales materials at the unloading point have been transported out of the local sales operation area; Used: Local sales materials already exist at the unloading point; Disabled: Unloading points with a current status of "Unused" cannot unload local sales materials.

[0009] Furthermore, when the ground pin unloading equipment performs ground pin unloading operations in area A or area B, area A or area B is a ground pin unloading area, and the attribute of area A or area B is: ground pin unloading; when the ground pin loading equipment performs ground pin loading operations in area A or area B, area A or area B is a ground pin loading area, and the attribute of area A or area B is: ground pin loading; when the ground pin unloading equipment performs ground pin unloading operations in area A or area B, and the ground pin loading equipment enters the same area to perform ground pin loading operations, the attribute of this area is: ground pin mixed.

[0010] Furthermore, a dedicated passage for ground pin loading equipment is set up between Zone A and Zone B, so that while ground pin unloading equipment is performing ground pin unloading operations in Zone A or Zone B, ground pin loading equipment can enter the same area through the dedicated passage to perform ground pin loading operations.

[0011] Furthermore, the ground unloading execution unit, running on the terminal system of the ground unloading equipment, includes: an unloading execution module and a status reporting module; the unloading execution module is used to receive the unloading task and entry permission instruction sent by the ground unloading control unit, and execute the ground unloading operation; the status reporting module is used to report the task status after unloading is completed, and the ground unloading control unit sets the status of the allocated unloading point to "used" through the ground unloading point status management module; when the unmanned mining truck performs the unloading operation and affects the adjacent "unused" unloading point, the ground unloading control unit sets the status of the allocated unloading point to "disabled" through the ground unloading point status management module.

[0012] Furthermore, the ground sales loading execution unit, which operates ground sales loading equipment within the ground sales site, includes: a ground sales unloading point reset module and a ground sales loading application module; the ground sales unloading point reset module is used to reset the status of the ground sales unloading points in the area to "unused" after all materials have been transported out of the ground sales loading area; the ground sales loading application module is used to send an application to the ground sales unloading control unit to enter the adjacent ground sales unloading area for loading after all materials have been transported out of the ground sales loading area, but the adjacent ground sales unloading area is not yet completely unloaded, and after obtaining permission, set the attribute of the adjacent ground sales unloading area to "ground sales mixed".

[0013] Furthermore, after the local sales unloading control unit receives the application from the local sales loading execution unit to enter the adjacent local sales unloading area for loading, the operator of the local sales unloading control unit confirms whether permission is granted via video confirmation and sends a permission or rejection response signal to the local sales loading execution unit.

[0014] Secondly, a method for continuous ground-loading operation of an unmanned mining transportation system is provided. This method employs the continuous ground-loading operation device of the unmanned mining transportation system described in the first aspect, controlling unmanned mining vehicles to alternately perform ground-loading and unloading operations between areas A and B. The method includes: sending a control command to the ground-loading execution unit to control the ground-loading equipment to enter area A and perform ground-loading operation; after the ground-loading operation in area A is completed, sending a control command to the ground-loading execution unit to control the ground-loading equipment to enter area B and perform ground-loading operation; simultaneously, sending a control command to the ground-loading execution unit to control the ground-loading equipment to enter area A and perform ground-loading operation; after the ground-loading operation in area A is completed, sending a control command to the ground-loading execution unit to control the ground-loading equipment to enter area B and perform ground-loading operation.

[0015] Thirdly, a mine unmanned transportation system is provided, wherein the mine unmanned transportation system is equipped with the ground sales continuous operation device of the mine unmanned transportation system described in the first aspect.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention divides the ground pin operation area into area A and area B through the ground pin unloading control unit; the ground pin unloading execution unit controls the ground pin unloading equipment to alternately perform ground pin unloading operations between area A and area B; the ground pin loading execution unit controls the ground pin loading equipment to alternately perform ground pin loading operations between area A and area B, thereby ensuring continuous unloading operations of unmanned mining cars in the ground pin area of ​​open-pit coal mines, while also ensuring continuous and uninterrupted ground pin loading. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the division and operation of the continuous operation area for ground sales in an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of a continuous operation device for an unmanned transportation system in a mine, provided in an embodiment of the present invention.

[0019] Figure 3 This is a flowchart of selecting the unloading area in an embodiment of the present invention;

[0020] Figure 4 This is a flowchart illustrating the process of controlling the unloading and entry of the ground pin in an embodiment of the present invention;

[0021] Figure 5 This is a flowchart illustrating the process of unloading the ground pin in an embodiment of the present invention;

[0022] Figure 6 This is a flowchart of the ground unloading point reset and continuous loading process in an embodiment of the present invention. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0024] Example 1:

[0025] like Figures 1-6 As shown, a continuous ground-loading operation device for an unmanned mining transportation system includes a ground-loading unloading control unit, a ground-loading unloading execution unit, and a ground-loading loading execution unit. The ground-loading unloading control unit divides the ground-loading operation area into zone A and zone B. The ground-loading unloading execution unit controls the ground-loading equipment to alternately perform ground-loading operations between zone A and zone B. The ground-loading loading execution unit controls the ground-loading equipment to alternately perform ground-loading operations between zone A and zone B. A dedicated path for the ground-loading equipment is provided between zone A and zone B, allowing the ground-loading equipment to enter the same area to perform ground-loading operations while the ground-loading equipment is performing ground-loading operations in zone A or zone B.

[0026] The ground sales unloading control unit operates on the unmanned transportation system central platform and includes: a ground sales unloading point generation module, a ground sales unloading point status management module, and a ground sales unloading control module. The ground sales unloading point generation module is used to set up several unloading points in areas A and B respectively (i.e., to generate unloading points in batches within the ground sales unloading area at one time, with the unloading points evenly distributed according to configurable spacing). The ground sales unloading point status management module is used to update the current status of each unloading point, which is divided into three states: unused, used, and disabled. When all the unloading materials in the area have been transported out of the site, the unloading control unit sets the status of all unloading points in that area to "unused" (meaning the unloading materials at the unloading point have been transported out of the unloading operation area). After the unmanned mining truck completes unloading, the unloading control unit sets the status of the unloading point to "used" (meaning there are already unloading materials at the unloading point), and subsequent unloading operations will not be possible at that location. When an unloading point with a status of "unused" cannot unload normally (for example, when unloading materials affect adjacent unloading points), the unloading control unit sets the status of the unloading point to "disabled" (unloading points currently in the "unused" state cannot unload unloading materials). The unloading control module is used to control the unloading process of the unmanned mining trucks according to the current status of each unloading point. Only one unmanned mining truck is allowed to enter the unloading area at a time, and the attributes of areas A and B are set. The unmanned mining trucks include unloading equipment and loading equipment (e.g., loaders, excavators, etc.). When a ground pin unloading device performs ground pin unloading operations in area A or area B, area A or area B is a ground pin unloading area, and the attribute of area A or area B is: ground pin unloading; when a ground pin loading device performs ground pin loading operations in area A or area B, area A or area B is a ground pin loading area, and the attribute of area A or area B is: ground pin loading; when a ground pin unloading device performs ground pin unloading operations in area A or area B, and a ground pin loading device enters the same area to perform ground pin loading operations, the attribute of that area is: ground pin mixed.

[0027] The ground unloading execution unit, running on the terminal system of the ground unloading equipment, includes an unloading execution module and a status reporting module. The unloading execution module receives unloading tasks and entry permission instructions from the ground unloading control unit and executes the ground unloading operation. The status reporting module reports the task status after unloading is completed, and the ground unloading control unit, through the ground unloading point status management module, sets the assigned unloading point status to "used." When an unmanned mining vehicle performs an unloading operation and affects an adjacent "unused" unloading point, the ground unloading control unit, through the ground unloading point status management module, sets the assigned unloading point status to "disabled."

[0028] The local sales loading execution unit, operating within the local sales site, includes a local sales unloading point reset module and a local sales loading application module. The local sales unloading point reset module resets the status of all local sales unloading points in the area to "unused" after all materials have been transported out of the local sales loading area. The local sales loading application module sends an application to the local sales unloading control unit to enter the adjacent local sales unloading area for loading after all materials have been transported out of the local sales loading area, but when the adjacent local sales unloading area is not yet completely full. The operator of the local sales unloading control unit confirms permission via video and then sends an approval or rejection response to the local sales loading execution unit. When an approval response is sent, the area attribute is set to "local sales mixed".

[0029] The specific steps for implementing this invention are as follows:

[0030] 1. Deploy and operate the ground pin unloading control device, the ground pin unloading execution device, and the ground pin loading execution device;

[0031] 2. Divide the sales area into two equal zones: Zone A and Zone B;

[0032] 3. Set the left and right adjacent spacing and the front and back adjacent spacing of the unloading points, and generate unloading points in batches for areas A and B respectively;

[0033] 4. Save the batch-generated unload points and set their status to "unused";

[0034] 5. First, set the ground sales area A to "ground sales unloading" and carry out the unloading operation. When all unloading points are full, set area A to ground sales loading and area B to "ground sales unloading".

[0035] 6. Local sales loading equipment and local sales transport vehicles enter Area A for loading and transportation;

[0036] 7. Loading and unloading operations are carried out alternately in areas A and B to ensure the continuity of operations.

[0037] like Figure 1As shown, the ground sales operation area is divided into Zone A and Zone B, separated by a retaining wall. Zones A and B have pre-generated batches of unloading points, initially in an "unused" state. First, Zone A is set as "ground sales unloading" for ground sales unloading operations. When an unmanned mining truck is about to arrive at Zone A, its ground sales unloading execution unit sends a ground sales unloading entry request to the ground sales unloading control unit. Upon receiving the request, the control unit checks if there are any vehicles operating in Zone A; if so, it replies with a rejection response. Waiting unmanned mining trucks continuously send entry requests to the ground sales unloading control unit until they receive an entry permission response. After the operating vehicles in the zone have finished leaving, the ground sales unloading control unit checks for adjacent "unused" unloading points at the previously used unloading point, assigns them to waiting unmanned mining trucks, and replies with an entry permission response. The unmanned mining truck automatically follows the entry path to the assigned unloading point for unloading operations. After unloading is completed, it reports its status to the ground sales unloading control unit. The loading control unit sets the status of the unloading point to "used". Each unloading point is only allowed to unload once. If it affects adjacent unloading points and causes adjacent "unused" unloading points to be unable to unload normally, the status of the adjacent unloading points is set to "disabled". If an "unused" unloading point is inaccessible to the unmanned mining truck due to its "used" or "disabled" status, it also needs to be set to "disabled". After the unmanned mining truck completes unloading, it automatically starts to leave the site. After leaving the site, it reports its status to the ground unloading control unit. The ground unloading control unit searches for "unused" unloading points, finds an "unused" unloading point adjacent to the last unloaded "used" unloading point, and assigns it to the unmanned mining truck currently waiting to enter the site. When there are no unused unloading points in the area, the area is set to "ground loading".

[0038] like Figure 3 As shown, the process of an unmanned mining truck selecting a local unloading area includes:

[0039] 1. The unmanned mining truck sends a region request to the ground unloading control unit through the ground unloading execution unit;

[0040] 2. After receiving the area request, the local sales unloading control unit checks the area attributes and unloading point status of areas A and B of the local sales area;

[0041] 3. Check the number of valid unloading points within the area specified by the "Local Sales Unloading" attribute;

[0042] 4. When the effective number is greater than the number of vehicles waiting to enter, return the path to the ground pin unloading area to the ground pin unloading execution device; otherwise, return the path to the adjacent ground pin loading area to the ground pin unloading execution device.

[0043] like Figure 4 As shown, the on-site sales unloading and entry control process includes:

[0044] 1. The unmanned mining truck sends an entry request to the ground unloading control unit through the ground unloading execution unit;

[0045] 2. The ground-mounted unloading control unit checks whether there are any work vehicles in the area; if so, it returns a rejection response.

[0046] 3. If not, query the status of the most recently used unload point and its nearest neighbor until the nearest "unused" unload point is found;

[0047] 4. The ground pin unloading control unit sends an entry permission response to the ground pin unloading execution unit;

[0048] 5. The local unloading control unit sends the allocated valid unloading point and path to the local unloading execution unit;

[0049] 6. Upon receiving a rejection response, the ground sales unloading execution unit continues to send entry requests;

[0050] 7. The local unloading execution unit receives the permission response and waits to receive the unloading point and path;

[0051] 8. The local unloading execution unit receives the unloading point and path and begins execution of the entry process.

[0052] like Figure 5 As shown, the uninstallation process includes:

[0053] 1. The unmanned mining truck sends the unloading completion status to the ground unloading control unit through the ground unloading execution unit;

[0054] 2. After receiving the unloading completion status, the local sales unloading control unit sets the status of the corresponding unloading point to "used";

[0055] 3. The operator of the local sales unloading control unit checks whether the nearby unloading points are affected via video and sets the status of the affected unloading points to "disabled";

[0056] 4. The ground-level unloading control unit checks the valid unloading points within its designated area;

[0057] 5. If no valid unloading point exists, set the area attribute to "ground loading" and transfer subsequent unloading operations to the adjacent area (ground loading area);

[0058] 6. If the adjacent loading area is still loading, then unloading and dispatching will be suspended until the status of the unloading point in the adjacent loading area is reset.

[0059] like Figure 6 As shown, the process for resetting the unloading point and continuous loading includes:

[0060] 1. The ground-loading execution unit sends a request to the ground-unloading control unit to reset the status of the unloading point within the "ground-loading" area;

[0061] 2. The local sales unloading control unit resets the status of all unloading points in the area to "unused";

[0062] 3. The ground-loading execution unit sends a request to the ground-unloading control unit to enter the "ground-unloading" area;

[0063] 4. The ground sales unloading control unit checks the unloading status in the "ground sales unloading" area;

[0064] 5. If the number of unloading points in the "used" or "disabled" state exceeds 40% of the total number of unloading points in the region, return an "allow entry" response; otherwise, return a "reject" response.

[0065] In the context of local sales operations, this invention can ensure continuous unloading and loading operations, effectively improving operational efficiency and equipment availability.

[0066] Example 2:

[0067] Based on the continuous ground-loading operation device of the unmanned mining transportation system described in Embodiment 1, this embodiment provides a continuous ground-loading operation method for the unmanned mining transportation system. Using the continuous ground-loading operation device of the unmanned mining transportation system described in Embodiment 1, the unmanned mining vehicle is controlled to alternately perform ground-loading and unloading operations between area A and area B. The method includes:

[0068] Send control commands to the ground pin unloading execution unit to control the ground pin unloading equipment to enter area A and perform the ground pin unloading operation;

[0069] After the ground pin unloading operation in area A is completed, a control command is sent to the ground pin unloading execution unit to control the ground pin unloading equipment to enter area B and execute the ground pin unloading operation; at the same time, a control command is sent to the ground pin loading execution unit to control the ground pin loading equipment to enter area A and execute the ground pin loading operation.

[0070] Once the ground-pin loading operation in area A is completed, a control command is sent to the ground-pin loading execution unit to control the ground-pin loading equipment to enter area B and perform the ground-pin loading operation.

[0071] Repeat the aforementioned steps to enable unmanned mining trucks to alternately perform ground pin unloading and ground pin loading operations between areas A and B.

[0072] Example 3:

[0073] Based on the ground sales continuous operation device of the unmanned mining transportation system described in Embodiment 1, this embodiment provides an unmanned mining transportation system, which is equipped with the ground sales continuous operation device of the unmanned mining transportation system described in Embodiment 1.

[0074] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A ground roll continuous operation device of a mine unmanned transportation system, characterized by, The ground pile unloading control unit, the ground pile unloading execution unit, and the ground pile loading execution unit; The ground pile unloading control unit is configured to divide the ground pile operation area into an A area and a B area; The ground pile unloading execution unit controls the ground pile unloading device to alternately perform ground pile unloading operations between the A area and the B area; The ground pile loading execution unit controls the ground pile loading device to alternately perform ground pile loading operations between the A area and the B area; The ground pile unloading control unit comprises a ground pile unloading point generation module, a ground pile unloading point state management module, and a ground pile unloading control module; The ground pile unloading point generation module is configured to set a plurality of unloading points in the A area and the B area, respectively; The ground pile unloading point state management module is configured to update the current state of each unloading point; The ground pile unloading control module is configured to control the unloading process of the unmanned mine vehicle according to the current state of each unloading point and set the properties of the A area and the B area, wherein the unmanned mine vehicle comprises the ground pile unloading device and the ground pile loading device; The current state of the unloading point comprises: unused: the ground pile material at the unloading point has been transported out of the ground pile operation area; used: there is already ground pile material at the unloading point; disabled: the unloading point with the current state of "unused" cannot unload ground pile material; When the ground pile unloading device performs ground pile unloading operations in the A area or the B area, the A area or the B area is a ground pile unloading area, and the property of the A area or the B area is "ground pile unloading"; When the ground pile loading device performs ground pile loading operations in the A area or the B area, the A area or the B area is a ground pile loading area, and the property of the A area or the B area is "ground pile loading"; When the ground pile unloading device performs ground pile unloading operations in the A area or the B area, the ground pile loading device enters the same area to perform ground pile loading operations, and the property of the area is "ground pile mixing"; The ground pile loading execution unit, which runs on the ground pile loading device in the ground pile yard, comprises a ground pile unloading point resetting module and a ground pile loading application module; The ground pile unloading point resetting module is configured to reset the state of the ground pile unloading point in the ground pile loading area to "unused" when all the materials are transported out of the ground pile loading area; The ground pile loading application module is configured to send an application to enter the adjacent ground pile unloading area for loading to the ground pile unloading control unit when all the materials are transported out of the ground pile loading area but the adjacent ground pile unloading area is not completely unloaded, and set the property of the adjacent ground pile unloading area to "ground pile mixing" after obtaining permission; When the ground pile loading execution unit sends the application to enter the adjacent ground pile unloading area for loading, the ground pile unloading control unit receives the application, and an operator of the ground pile unloading control unit confirms whether to allow by video confirmation and sends a permission or rejection response signal to the ground pile loading execution unit.

2. The ground-shipping continuous operation device of the mine unmanned transportation system according to claim 1, characterized in that, A ground pile loading device dedicated passage is provided between the A area and the B area, which is used for the ground pile loading device to enter the same area to perform ground pile loading operations through the ground pile loading device dedicated passage when the ground pile unloading device performs ground pile unloading operations in the A area or the B area.

3. The ground engaging continuous operation device of the mine unmanned transport system according to claim 1, characterized in that, The ground pile unloading execution unit, which runs on the terminal system of the ground pile unloading device, comprises an unloading execution module and a state reporting module; The unloading execution module is configured to receive the unloading task and the access permission instruction sent by the ground station unloading control unit and execute the ground station unloading operation. The state reporting module is configured to report the task state after the unloading is completed, and the ground station unloading control unit sets the state of the allocated unloading point to "used" through the ground station unloading point state management module; when the unmanned mine car executes the unloading operation, the ground station unloading control unit sets the state of the allocated unloading point to "disabled" through the ground station unloading point state management module when the adjacent "unused" unloading point is affected.

4. A method for continuous operation of a ground shoe of a mine unmanned transport system, characterized by, The ground station continuous operation device of the mine unmanned transportation system according to any one of claims 1-3 is used to control the unmanned mine car to alternately execute the ground station unloading operation and the ground station loading operation between the A area and the B area, and the method comprises: sending a control instruction to the ground station unloading execution unit to control the ground station unloading device to enter the A area and execute the ground station unloading operation; after the ground station unloading operation in the A area is completed, sending a control instruction to the ground station unloading execution unit to control the ground station unloading device to enter the B area and execute the ground station unloading operation; at the same time, sending a control instruction to the ground station loading execution unit to control the ground station loading device to enter the A area and execute the ground station loading operation; after the ground station loading operation in the A area is completed, sending a control instruction to the ground station loading execution unit to control the ground station loading device to enter the B area and execute the ground station loading operation.

5. A mine unmanned transport system characterized in that, The mine unmanned transportation system is provided with the ground station continuous operation device of the mine unmanned transportation system according to any one of claims 1-3.

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