Underground loaders and their multi-machine collaborative shared chute control system and method

Abstract

This application discloses an underground loader and its multi-machine collaborative shared chute control system and method. The control system includes: a data acquisition device for acquiring the relative distances between multiple loaders; a throttle device for accelerating or decelerating the loaders based on input electrical signals; and a braking device for decelerating the loaders based on input electrical signals. The multi-machine collaborative shared chute system further includes: a control device for sending control signals to the throttle device or braking device based on control signals sent by the data acquisition device to control the loaders. The advantage of this application is that it provides a shared chute control system and method capable of enabling remote operation and multi-machine collaboration of multiple loaders.

Description

Technical Field

[0001] This application relates to the field of engineering vehicles, and more specifically, to an underground loader and its multi-machine collaborative shared chute control system and method. Background Technology

[0002] With the development of the mining industry and the improvement of the information technology level of mining equipment, intelligent mining will be the inevitable path for the mining industry in the future.

[0003] Mining machinery is the primary tool in mining operations, and the efficiency, safety, and automation of mining equipment represent the level of productivity in mining. The digitalization and automation of mining machinery are also key directions for its development.

[0004] Loaders are widely used in modern mines due to their flexibility, large carrying capacity, safety and efficiency. They are a very important link in the underground metal ore transportation process. Therefore, it is necessary to study and develop remote operation, automation and multi-machine collaborative operation of loaders.

[0005] Existing remote control and automatic driving solutions for loaders require the closure of the loader's operating lanes to ensure safety. This means that only one loader can operate in the same lane at any given time, which inevitably affects production efficiency. Summary of the Invention

[0006] The summary section of this application is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0007] Some embodiments of this application propose an underground loader and its multi-machine collaborative shared chute control system and method, which solves the technical problems mentioned in the background section above based on the prior art.

[0008] As a first aspect of this application, some embodiments of this application provide a multi-machine collaborative shared ore pass control system for underground loaders, comprising: a data acquisition device for acquiring the relative distance between multiple loaders; a throttle device for accelerating or decelerating the loaders based on an input electrical signal; and a braking device for decelerating the loaders based on an input electrical signal. The multi-machine collaborative shared ore pass system further comprises: a control device for sending control signals to the throttle device or the braking device based on control signals sent by the data acquisition device to control the loaders.

[0009] Furthermore, the control device includes: a main controller electrically connected to the throttle device and the brake device to receive their control signals; an engine controller electrically connected to the main controller to receive its control signals; and a transmission controller electrically connected to the main controller to receive its control signals.

[0010] As a second aspect of this application, some embodiments of this application provide an underground loader that includes the aforementioned multi-machine collaborative shared chute control system.

[0011] As a third aspect of this application, some embodiments of this application provide a multi-machine collaborative shared chute control method, wherein the loader includes: a data acquisition device for acquiring the relative distance between multiple loaders; a throttle device for accelerating or decelerating the loader; a brake device for decelerating the loader; and a control device for sending control signals to the throttle device or brake device according to the control signals sent by the data acquisition device to control the loader; the multi-machine collaborative shared chute control method includes: in response to the distance signal sent by the data acquisition device, acquiring the speed of the master loader; determining whether the relative distance between the master loader and all vehicles in the critical zone and the mutually exclusive zone is less than at least one of the first critical distances; if so, setting the speed to 0; otherwise, determining whether the relative distance between the master loader and all vehicles in the critical zone and the mutually exclusive zone is less than at least one of the second critical distances; if so, controlling the throttle device and / or brake device to decelerate and travel to the mutually exclusive zone; determining whether there are vehicles in the mutually exclusive zone, and if so, stopping and waiting in the waiting area.

[0012] Furthermore, the method for obtaining the speed of the main control loader in response to the distance signal sent by the acquisition device includes: the acquisition device sending a position signal to the control device, and the control device determining the vehicle's position information based on the position signal sent by the acquisition device.

[0013] Furthermore, the method by which the acquisition device sends a position signal to the control device includes: the lidar sending point cloud data of the vehicle to the UWB positioning base station, and the UWB positioning base station transmitting the coordinate data of the vehicle to the control device based on the point cloud data.

[0014] Furthermore, the method of determining whether there is a vehicle in the mutual exclusion zone and stopping in the waiting area if there is, also includes: otherwise, controlling the vehicle to enter the mutual exclusion zone to work.

[0015] Furthermore, the multi-machine collaborative shared chute control method also includes: when the distance between vehicles is greater than the second critical distance, all vehicles will drive normally.

[0016] Furthermore, the formula for calculating the first critical distance is as follows:

[0017] When u2 / a2≥t2: then

[0018]

[0019] When u2 / a2 < t2: then

[0020]

[0021] Where, d br This represents the first critical distance, where v is the speed of the main control vehicle. rel v1 represents the relative speed between the master vehicle and the target vehicle, v2 represents the target vehicle speed, a1 represents the maximum deceleration of the master vehicle, a2 represents the maximum deceleration of the target vehicle, t1 represents the system delay time, and t2 represents the braking time.

[0022] Furthermore, the formula for calculating the second critical distance is as follows:

[0023] d w =2.2v rel +6.2

[0024] Where, d w v represents the second critical distance. rel It is the relative speed between the controlling vehicle and the target vehicle.

[0025] The beneficial effects of this application are as follows:

[0026] More specifically, some embodiments of this application may produce the following specific beneficial effects:

[0027] 1. No need to rescan the ore pass area; multi-machine collaborative operation can be achieved directly by utilizing existing mine ore passes.

[0028] 2. The well chute is used as a reference point and its surrounding area is divided into zones. The way vehicles perform relevant actions in different zones is defined to improve the efficiency of vehicle collaboration.

[0029] 3. By using laser SLAM technology to realize downhole mapping and path planning, and combining it with UWB technology to achieve real-time precise vehicle positioning, it can complete unmanned transportation and dumping functions, as well as the collaborative operation function of at least two devices.

[0030] 4. Through the human-computer interaction design of the operating system, it provides vehicle operation image monitoring, tunnel interface cloud map monitoring, and vehicle operation information monitoring for operators. Utilizing 5G network communication technology, 5G signals are deployed in underground tunnels and work faces to transmit control information, vehicle operation information, and video information. The received 5G control signals are processed by the vehicle PLC to drive the vehicle's electro-hydraulic proportional control system, enabling shoveling and transporting operations. This provides a safe, comfortable, and efficient remote control system for shovel loaders. Attached Figure Description

[0031] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application.

[0032] Furthermore, throughout the accompanying drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the elements are not necessarily drawn to scale.

[0033] In the attached diagram:

[0034] Figure 1 This is a schematic diagram of the steps of an underground loader and its multi-machine collaborative shared chute control method according to an embodiment of this application;

[0035] Figure 2 This is a flowchart of an underground loader and its multi-machine collaborative shared chute control method according to an embodiment of this application;

[0036] Figure 3 This is a schematic diagram of the control relationship between the control console and the underground loader and its multi-machine collaborative shared chute control system according to an embodiment of this application;

[0037] Figure 4 This is a schematic diagram of the communication system of an underground loader and its multi-machine collaborative shared chute control system according to an embodiment of this application;

[0038] Figure 5 This is a schematic diagram of the mutual exclusion zone and critical zone in an underground loader and its multi-machine collaborative shared chute control method according to an embodiment of this application. Detailed Implementation

[0039] This disclosure will be more readily understood by referring to the following description, taken in conjunction with the accompanying drawings and examples, all of which form part of this disclosure. It should be understood that this disclosure is not limited to the specific products, methods, conditions, or parameters described and / or illustrated herein. Furthermore, the terminology used herein is for the purpose of describing particular embodiments by way of example only and is not intended to be limiting, unless otherwise stated.

[0040] It should also be understood that, for clarity, certain features of this disclosure may be described herein in the context of individual embodiments, but may also be provided in combination with each other in individual embodiments. That is, unless obviously incompatible or specifically excluded, each individual embodiment is considered to be combinable with any other embodiment, and such combination is considered to represent another different embodiment. Conversely, for brevity, various features of this disclosure described in the context of individual embodiments may also be provided individually or in any sub-combination. Finally, while a particular embodiment may be described as part of a series of steps or part of a more general structure, each step or substructure may also be considered an independent embodiment in itself.

[0041] Unless otherwise stated, it should be understood that each individual element in the list and each combination of individual elements in the list will be interpreted as a different embodiment. For example, a list of embodiments denoted as "A, B, or C" should be interpreted as including embodiments "A", "B", "C", "A or B", "A or C", "B or C", or "A, B, or C".

[0042] In this disclosure, the singular forms of the articles “a,” “an,” and “the” also include the corresponding plural references, and references to a particular value include at least that particular value, unless the context clearly indicates otherwise. Thus, for example, a reference to “substance” is a reference to at least one of such substance and its equivalents.

[0043] Terms including ordinal numbers such as "first" and "second" may be used to describe various components or fluids, but these components and fluids are not limited by these terms. Therefore, without departing from the teachings of this disclosure, these terms are used only to distinguish one component / fluid from another.

[0044] When an item is described using the integrative terms “...and / or ...", the description should be understood to include any of the associated listed items and all combinations thereof; for example, A and / or B should be interpreted as an embodiment that includes “A” but not “B”, an embodiment that includes “B” but not “A”, or an embodiment that includes both “A” and “B”.

[0045] Generally, the use of the term "about" indicates an approximation that can vary depending on the desired characteristics obtained from the disclosed subject matter and will be interpreted in a context-dependent manner based on function. Therefore, those skilled in the art will be able to interpret a degree of difference on a case-by-case basis. In some cases, the number of significant figures used when expressing a particular value can be a representative technique for determining the difference allowed by the term "about." In other cases, a gradient within a range of values ​​can be used to determine the range of differences allowed by the term "about." Furthermore, all ranges in this disclosure are inclusive and composable, and references to values ​​described within a range include every value within that range.

[0046] Throughout the description of this application, when a part is described as "including" a certain element, it does not mean that other elements are excluded, but rather that other elements may be included, unless otherwise expressly stated to the contrary.

[0047] Throughout this specification, when a step is described as being "above" or "before" other steps, this includes not only cases where the step has a direct temporal sequence relationship with the other steps, but also cases where the temporal sequence of two steps changes, such as a mixed step following each step, and where there is an indirect temporal sequence relationship.

[0048] Throughout this specification, the phrase “any embodiment of the first aspect of the first object of the present invention…” does not mean the exclusion of any constituent elements of the described scheme that appear before or after it, but rather means that other constituent elements may also be included, unless otherwise expressly stated to the contrary.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terms used herein and / or include any and all combinations of one or more of the associated listed items.

[0050] To demonstrate the technical solutions and advantages of the present invention, the technical solutions in the embodiments of the present invention will be described in full below.

[0051] like Figures 1 to 5As shown, an embodiment of this application provides a multi-machine collaborative shared ore pass control system for underground loaders, comprising: a data acquisition device for acquiring the relative distance between multiple loaders; a throttle device for accelerating or decelerating the loaders based on an input electrical signal; and a braking device for decelerating the loaders based on an input electrical signal. The multi-machine collaborative shared ore pass system further comprises: a control device for sending control signals to the throttle device or the braking device based on control signals sent by the data acquisition device to control the loaders.

[0052] Specifically, the data acquisition device is used to collect the relative distances between each loader and upload the relative distance data to the control device. In this embodiment, the control device is a multi-machine collaborative system for long-range remote control of underground loaders beyond line of sight. Its main hardware includes an onboard control system, a communication system, and a safety light curtain system. The control device transmits the collected relative distance data to the control panel via the communication system, and the operator transmits electrical signals through the control panel.

[0053] More specifically, the control panel adopts an independent modular design, facilitating easy movement and deployment. It uses a customized armrest box, with operation buttons set according to vehicle operating needs. It employs a joystick operation and includes an accelerator pedal. The monitor displays video information about the vehicle's direction of travel, a LiDAR scan interface, vehicle operating information, alarm information, and fault information. The autonomous driving display enables human-machine interaction for autonomous driving and provides real-time location information. This allows operators to remotely monitor vehicle operation from the control panel, providing information and execution commands for correct operation.

[0054] like Figure 4 As shown, more specifically, 5G modules are installed on both the control panel and the vehicle, each with a SIM card inserted to connect to the operator's 5G network. The operator's network needs to ensure full coverage within the tunnel. A safety light curtain system acts as a protector for equipment safety, maximizing operator safety and ensuring safe industrial production. Specifically, indicator lights are installed at the light curtain to display area closure information: red with an audible alarm indicates intrusion into the closed area, yellow indicates the equipment is not connected to the network, and green indicates the light curtain system is operating normally. A reset switch is also installed at the light curtain; manual confirmation is required before resetting if the closed area is intruded upon. An audio-visual communication system is installed at the light curtain, and a voice communication console is installed on the control panel to improve operational safety and communication efficiency.

[0055] The remote dispatch center system on the control panel can freely switch the currently controlled vehicle according to production needs, and can remotely control and automatically drive the vehicle. The remote dispatch center switches the currently driven vehicle through a touch panel, facilitating vehicle operation.

[0056] In one specific embodiment, the control device includes: a main controller electrically connected to the throttle device and the brake device to receive their control signals; an engine controller electrically connected to the main controller to receive its control signals; and a transmission controller electrically connected to the main controller to receive its control signals.

[0057] Specifically, in this embodiment, the main controller refers to the on-board control system, which can control the engine controller and the transmission controller according to the signals transmitted from the control panel. The engine controller can control the engine speed to control the speed of the loader, and the transmission controller can control the gears of the loader.

[0058] The specific application of the multi-machine collaborative shared ore pass control system of this application is to achieve multi-machine collaborative operation by directly utilizing existing mine ore passes without rescanning the ore pass area. An ore pass is a roadway in which ore is discharged from top to bottom by its own weight. It is commonly used in the mining industry in the prior art. The multi-machine collaborative shared ore pass control system of this application can divide the existing ore passes and their surrounding related areas as reference points, and define the way vehicles perform related actions in different areas, thereby improving the efficiency of vehicle collaborative work.

[0059] In one specific embodiment, an underground loader is provided, comprising the aforementioned multi-machine collaborative shared chute control system. The loader is equipped with a lidar sensor capable of transmitting point cloud data to a UWB positioning base station in the chute system to obtain the relative position and distance between the loader and other vehicles.

[0060] In one specific embodiment, a multi-machine collaborative shared chute control method is provided for underground loaders, wherein the loader includes: a data acquisition device for acquiring the relative distance between multiple loaders; a throttle device for accelerating or decelerating the loader; a brake device for decelerating the loader; and a control device for sending control signals to the throttle device or brake device based on control signals sent by the data acquisition device to control the loader.

[0061] like Figure 1 and Figure 2 As shown, the multi-machine collaborative shared ore pass control method includes:

[0062] S100: In response to the distance signal sent by the acquisition device, acquire the speed of the main control shovel.

[0063] S200: Determine whether the relative distance between the master vehicle and all vehicles in the critical zone and mutually exclusive zone is less than the first critical distance. If so, immediately change the speed to 0.

[0064] S300: Otherwise, determine whether the relative distance between the main vehicle and all vehicles in the critical zone and the mutually exclusive zone is less than the second critical distance. If so, control the throttle device and / or the braking device to decelerate and drive to the mutually exclusive zone.

[0065] S400: Determine if there is a vehicle in the mutual exclusion zone. If so, stop and wait in the waiting area. Otherwise, control the vehicle to enter the mutual exclusion zone to perform work.

[0066] S500: When the distance between vehicles is greater than the second critical distance, all vehicles are driving normally.

[0067] Specifically, the data acquisition device sends a position signal to the control device, and the control device determines the vehicle's position information based on the position signal sent by the data acquisition device. The method by which the data acquisition device sends the position signal to the control device includes: the lidar sending point cloud data of the vehicle to the UWB positioning base station, and the UWB positioning base station transmitting the vehicle's coordinate data to the control device based on the point cloud data. The remote operation center can obtain the precise location of the vehicle at any location in real time, and at least in real time, it can determine whether the vehicle is in a critical / mutually exclusive zone. Therefore, a SLAM+UWB combined positioning method is adopted as the chute sharing scheme.

[0068] More specifically, SLAM (Simultaneous Localization and Mapping) refers to a technology where a vehicle / robot starts moving from an unknown location in an unknown environment, performs self-localization based on its position and a map during movement, and simultaneously builds an incremental map based on its self-localization, thus achieving autonomous localization and navigation. The localization technology suitable for this scenario can adaptively employ the Adapter Monte Carlo Localization (AMCL) algorithm. This algorithm dynamically matches geographic feature information acquired by perception sensors (LiDAR, ultrasonic sensors, cameras, etc.) installed on the vehicle with the map to determine its position. This algorithm has been widely commercialized in outdoor autonomous driving and indoor service robots, and it has high localization accuracy in most scenarios; however, it may experience localization loss in scenarios with indistinct geographic features.

[0069] UWB positioning refers to Ultra Wide Band (UWB) technology, a wireless carrier communication technology that does not use sinusoidal carriers but instead transmits data using nanosecond-level non-sinusoidal narrow pulses, thus occupying a very wide spectrum. UWB technology has advantages such as low system complexity, low transmitted signal power spectral density, insensitivity to channel fading, low interception capability, and high positioning accuracy, making it particularly suitable for high-speed wireless access in dense, multipath-rich environments such as indoors. UWB is simple to engineer and inexpensive. In engineering implementation, UWB technology is much simpler than other wireless technologies and can be fully digitally implemented. It only requires generating pulses using a mathematical method and modulating them; the circuitry required to achieve this process can be integrated onto a single chip, resulting in very low equipment costs.

[0070] Location information for loaders, chutes, and tunnels is obtained via UWB. Two UWB positioning base stations need to be installed within the area of ​​a single chute. Each loader needs to be equipped with a vehicle-mounted positioning tag, which is linked to the vehicle's information. The positioning base stations can easily connect to existing networks. The coverage range of a single positioning base station is over 200 meters, and the positioning accuracy can reach 100% under unobstructed conditions. One positioning base station is installed in the chute, and one in the tunnel; the specific installation locations depend on the site environment. In this solution, UWB is used to improve positioning accuracy.

[0071] In one specific implementation, Figure 5 In the area where the chute X is located, when two pieces of equipment (vehicle A and vehicle B) are working collaboratively, vehicle A is the main control vehicle. When the positioning device detects that vehicle A has entered the critical zone, it triggers a judgment by the remote operation center. If vehicle B is not in the mutually exclusive zone or the critical zone, vehicle A operates normally. If vehicle B is already in the mutually exclusive zone or the critical zone, the distance between vehicle A and vehicle B is calculated, and it is determined whether the distance between the two vehicles is less than the safe distance. The safe distance is divided into a first critical distance and a second critical distance. Specifically, the formula for calculating the first critical distance is:

[0072] When v2 / a2≥t2: then

[0073]

[0074] When v2 / a2 < t2: then

[0075]

[0076] Where, d br This represents the first critical distance, where v is the speed of the main control vehicle. relv1 represents the relative speed between the master vehicle and the target vehicle, v2 represents the target vehicle speed, a1 represents the maximum deceleration of the master vehicle, a2 represents the maximum deceleration of the target vehicle, t1 represents the system delay time, and t2 represents the braking time.

[0077] The formula for calculating the second critical distance is:

[0078] d w =2.2v rel +6.2

[0079] Where, d w v represents the second critical distance. rel It is the relative speed between the controlling vehicle and the target vehicle.

[0080] If the distance between the two vehicles is greater than d w If car A moves normally towards the mutually exclusive area, it continuously checks the position of car B (the closer car A is to the mutually exclusive area, the higher the check frequency). While car B is still within the mutually exclusive area, car A stops and waits in the waiting area. When car B leaves the mutually exclusive area, car A resumes its original speed or continues working. If the distance between the two cars is less than d... w But greater than d br Car A decelerates and moves towards the mutually exclusive area, while continuously checking the position of car B. Once the distance between the two cars approaches d... br Car A immediately stopped.

[0081] When three or more devices are working simultaneously, vehicle A is the main control vehicle. When vehicle A enters the critical zone, the remote operation center makes a judgment. If other vehicles are not in the mutual exclusion zone or the critical zone at this time, vehicle A will operate normally.

[0082] If one or more vehicles are located within the mutually exclusive region and the critical region, it is necessary to determine the safe distance between vehicle A and all vehicles within the region. If all distances are greater than their corresponding d, then... w If car A proceeds normally into the mutually exclusive area, the positions of car A and all other vehicles within the area are repeatedly checked to calculate the safe distance. If one or more distances are less than the corresponding d... w And all distances are greater than the corresponding d. br Car A decelerates and moves towards the mutually exclusive area, repeatedly calculating the minimum safe distance. Once one or more distances approach d, br Car A stops immediately. When there are vehicles in the mutual exclusion zone, Car A stops and waits in the waiting area; when there are no vehicles in the mutual exclusion zone, Car A resumes its original speed or continues working.

[0083] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A multi-machine collaborative shared chute control method for underground loader, characterized in that, Underground scrapers include: A data acquisition device is used to collect the relative distances between multiple loaders; The throttle mechanism is used to accelerate or decelerate the loader; Braking device, used to reduce the speed of the loader; A control device is used to send control signals to the throttle device or the brake device according to the control signals sent by the acquisition device in order to control the loader. The aforementioned multi-machine collaborative shared well pass control method includes: In response to the distance signal sent by the acquisition device, the speed of the main control shovel is obtained; Determine whether the relative distance between the master vehicle and all vehicles in the critical zone and the mutually exclusive zone is less than the first critical distance at least once. If so, then set the speed to 0; Otherwise, determine whether the relative distance between the master vehicle and all vehicles in the critical zone and the mutually exclusive zone is less than the second critical distance at least once. If so, control the throttle and / or braking devices to decelerate the vehicle to the mutually exclusive zone; Determine if there is a vehicle in the mutually exclusive zone; if so, stop and wait in the waiting area. The formula for calculating the first critical distance is: when Time: then when Time: then in, Indicates the first critical distance. It controls the vehicle speed. It is the relative speed between the controlling vehicle and the target vehicle. It is the target vehicle's speed. This represents the maximum deceleration of the main control vehicle. This represents the maximum deceleration of the target vehicle. Represents system latency. This represents the braking time; The formula for calculating the second critical distance is: in, This represents the second critical distance. It is the relative speed between the controlling vehicle and the target vehicle.

2. The multi-machine collaborative shared ore pass control method according to claim 1, characterized in that: The method for obtaining the speed of the main control loader in response to the distance signal sent by the acquisition device includes: The data acquisition device sends a position signal to the control device, and the control device determines the vehicle's position information based on the position signal sent by the data acquisition device.

3. The multi-machine collaborative shared ore pass control method according to claim 2, characterized in that: The method by which the acquisition device sends a position signal to the control device includes: The lidar sends point cloud data of the vehicle to the UWB positioning base station, and the UWB positioning base station transmits the vehicle's coordinate data to the control device based on the point cloud data.

4. The multi-machine collaborative shared ore pass control method according to claim 1, characterized in that: The method for determining whether there is a vehicle in the mutual exclusion zone, and if so, stopping and waiting in the waiting area, also includes: otherwise, controlling the vehicle to enter the mutual exclusion zone to perform work.

5. The multi-machine collaborative shared ore pass control method according to claim 1, characterized in that: The multi-machine collaborative shared well pass control method also includes: When the distance between vehicles is greater than the second critical distance, all vehicles are driving normally.

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