A remote control system and method for electric shovel in mining area

Abstract

The embodiment of the present invention provides a remote control system and method for an electric shovel in a mining area, and relates to the technical field of electric shovel control technology in a mining area. The system includes: an electric shovel, which is used to mine and collect minerals in the mining area; a mining area data collector, which is used to obtain mining area information; an electric shovel data collector, which is used to obtain electric shovel information; a data processing end, which is used to perform path planning calculations on the mining area information and the electric shovel information through a preset first model to obtain the electric shovel mining path and the mining area excavation plan; a 5G data transmission end, which is used to receive data packets corresponding to the electric shovel mining path and the mining area excavation plan, and send action instructions to the electric shovel based on the electric shovel mining path and the mining area excavation plan to instruct the electric shovel to perform mining actions. Through the present invention, the problem of short life of the electric shovel is solved, thereby achieving the effect of extending the life of the electric shovel and improving the working efficiency of the electric shovel.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of electric shovel control, and in particular, to a remote control system and method for an electric shovel in a mining area. Background Art

[0002] With the acceleration of industrialization, the demand for mining of mineral resources is growing. As an important way to mine mineral resources, the efficiency and safety of open-pit mines have always been widely concerned by the industry. In the traditional open-pit mining process, the electric shovel driver needs to perform local operations in harsh environments (such as high temperature, dust, etc.) to complete the shovel loading operation. This operation method is not only labor-intensive, but also has high work risks, which can easily lead to occupational diseases and safety accidents.

[0003] In order to meet these challenges, the industry has been seeking to achieve "less manpower and less manpower" for open-pit mine shovel drivers. Through the application of remote control technology, shovel drivers can be transferred from the harsh mining environment to indoors, thus providing a safer and more convenient way of working and improving the operating efficiency of the shovel. However, achieving this goal requires solving a series of technical problems, including the transformation and design of shovel equipment, the support of wireless transmission basic network, the guarantee of computing and storage resources, and the construction of remote control software and hardware environment.

[0004] Among these challenges, the support of wireless transmission infrastructure is particularly critical. Since the mining production site requires the network to have wide coverage and support the application of mobile equipment, and faces harsh, complex and changeable scenes, traditional wired and wireless network technologies often cannot meet business requirements. In addition, the slope of the shovel operation and the hardness of the mining surface have a significant impact on the use of the shovel, especially in an environment with a large slope, which puts higher requirements on the service life and stability of the equipment.

[0005] There is currently no better solution to the above problems. Summary of the invention

[0006] The embodiments of the present invention provide a remote control system and method for an electric shovel in a mining area, so as to at least solve the problem of short service life of the electric shovel in the related art.

[0007] According to one embodiment of the present invention, a remote control system for an electric shovel in a mining area is provided, comprising:

[0008] Electric shovel, used for mining and collection in mining areas;

[0009] A mining area data collector, used to obtain mining area information, wherein the mining area information includes mining area slope and mining area environment information;

[0010] An electric shovel data collector, used to obtain electric shovel information, wherein the electric shovel information includes electric shovel boom parameters and electric shovel historical mining parameters;

[0011] The data processing end is used to perform path planning calculation on the mining area information and the electric shovel information through a preset first model to obtain the electric shovel mining path and the mining area excavation plan; wherein the electric shovel mining path is obtained based on a preset constraint formula, and the path planning includes calculating the alternative path nodes and alternative excavation plans that meet the excavation requirements through the first model according to the mining area information, and the alternative excavation plans include the platform construction height, platform width, cargo source repose angle, boom cylinder movement stroke, excavation direction, and vehicle retreat boundary line; the alternative path nodes and alternative excavation plans are screened according to the constraint formula and the electric shovel information to obtain the target path node and the target excavation plan, the electric shovel mining path includes the target path node, and the mining area excavation plan includes the target excavation plan; the screening process includes the following steps: calculating the length, energy consumption and arm span length of multiple routes composed of the target path node and the target excavation plan, and determining the excavation coverage of the electric shovel in each route according to the constraint formula and the electric shovel information, and then screening each route according to the coverage;

[0012] The 5G data transmission terminal is used to receive data packets corresponding to the electric shovel mining path and the mine excavation plan, and send action instructions to the electric shovel based on the electric shovel mining path and the mine excavation plan to instruct the electric shovel to perform mining actions.

[0013] In an exemplary embodiment, it further includes:

[0014] A detection module is used for, after sending an action instruction to the electric shovel according to the electric shovel mining path and the mining area excavation plan to instruct the electric shovel boom to perform a mining action, detecting the extension and contraction amount of the cylinder of the disc brake of the electric shovel through a first sensor to obtain the extension and contraction amount of the cylinder; and detecting the motor bearing temperature of the electric shovel through a second sensor to obtain the motor bearing temperature information;

[0015] A wear determination module, used for determining the rotor wear information of the electric shovel according to the cylinder expansion and contraction amount;

[0016] The state calculation module is used to determine the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information and the motor bearing temperature information.

[0017] In an exemplary embodiment, determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information, and the motor bearing temperature information includes:

[0018] Acquire the motion information of the electric shovel, wherein the motion information includes the motion position coordinates of the electric shovel during mining and the ore loading weight, and the electric shovel coordinates include the motion position coordinates;

[0019] Constructing a mining parameter matrix according to the motion position coordinates, the ore loading weight, the rotor wear information, and the motor bearing temperature information;

[0020] A state calculation is performed on the mining parameter matrix. When the state calculation result is in a first area, it is determined that the electric shovel is in a first state; when the state calculation result is in a second area, it is determined that the electric shovel is in a second state; when the state calculation result is in a third area, it is determined that the electric shovel is in a third state.

[0021] In an exemplary embodiment, the constraint formula includes at least a geometric constraint and a dynamic constraint, wherein the geometric constraint includes:

[0022] ;

[0023] Where x is the position coordinate of the shovel, is the current length of the shovel arm, It is the design length of the bucket arm of the electric shovel. It is the minimum vertical height of the bottom of the bucket of the electric shovel; is the current vertical height of the shovel's bucket teeth, is the final vertical height of the shovel’s bucket teeth;

[0024] The dynamic constraints include:

[0025] ;

[0026] In the formula, is the quality of the electric shovel, is the acceleration of the shovel when it moves, is the stiffness coefficient of the system, It is the resistance to excavation.

[0027] According to another embodiment of the present invention, a remote control method for a mining electric shovel is provided, which is applied to the aforementioned remote control system for a mining electric shovel, and includes:

[0028] Acquire mining area information and electric shovel information, wherein the mining area information includes mining area slope and mining area environment information, and the electric shovel information includes electric shovel boom parameters and electric shovel historical mining parameters;

[0029] A path planning calculation is performed on the mining area information and the electric shovel information through a preset first model to obtain the electric shovel mining path and the mining area excavation plan; wherein the electric shovel mining path is obtained based on a preset constraint formula, and the path planning includes calculating the alternative path nodes and alternative excavation plans that meet the excavation requirements through the first model according to the mining area information, and the alternative excavation plans include the platform construction height, platform width, cargo source repose angle, boom cylinder movement stroke, excavation direction, and vehicle retreat boundary line; the alternative path nodes and alternative excavation plans are screened according to the constraint formula and the electric shovel information to obtain the target path node and the target excavation plan, the electric shovel mining path includes the target path node, and the mining area excavation plan includes the target excavation plan; the screening process includes the following steps: calculating the length, energy consumption and arm span length of multiple routes composed of the target path node and the target excavation plan, and determining the excavation coverage of the electric shovel in each route according to the constraint formula and the electric shovel information, and then screening each route according to the coverage;

[0030] According to the electric shovel mining path and the mining excavation plan, action instructions are sent to the electric shovel through the 5G network to instruct the electric shovel arm to perform mining actions.

[0031] In an exemplary embodiment, after sending an action instruction to the electric shovel according to the electric shovel mining path and the mine excavation plan to instruct the electric shovel boom to perform a mining action, the information method further includes:

[0032] The expansion and contraction amount of the cylinder of the disc brake of the electric shovel is detected by the first sensor to obtain the expansion and contraction amount of the cylinder; and the motor bearing temperature of the electric shovel is detected by the second sensor to obtain the motor bearing temperature information;

[0033] Determining rotor wear information of the electric shovel according to the cylinder extension amount;

[0034] The working state of the electric shovel is determined based on the pre-acquired electric shovel coordinates, the rotor wear information and the motor bearing temperature information.

[0035] In an exemplary embodiment, determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information, and the motor bearing temperature information includes:

[0036] Acquire the motion information of the electric shovel, wherein the motion information includes the motion position coordinates of the electric shovel during mining and the ore loading weight, and the electric shovel coordinates include the motion position coordinates;

[0037] Constructing a mining parameter matrix according to the motion position coordinates, the ore loading weight, the rotor wear information, and the motor bearing temperature information;

[0038] A state calculation is performed on the mining parameter matrix. When the state calculation result is in a first area, it is determined that the electric shovel is in a first state; when the state calculation result is in a second area, it is determined that the electric shovel is in a second state; when the state calculation result is in a third area, it is determined that the electric shovel is in a third state.

[0039] In an exemplary embodiment, the constraint formula includes at least a geometric constraint and a dynamic constraint, wherein the geometric constraint includes:

[0040] ;

[0041] Where x is the position coordinate of the shovel, is the current length of the shovel arm, It is the design length of the bucket arm of the electric shovel. It is the minimum vertical height of the bottom of the bucket of the electric shovel; is the current vertical height of the shovel's bucket teeth, is the final vertical height of the shovel’s bucket teeth;

[0042] The dynamic constraints include:

[0043] ;

[0044] In the formula, is the quality of the electric shovel, is the acceleration of the shovel when it moves, is the stiffness coefficient of the system, It is the resistance to excavation.

[0045] According to yet another embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of any one of the above method embodiments when run.

[0046] According to yet another embodiment of the present invention, there is provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0047] Through the present invention, by combining information such as the slope of the mining area with the excavation path and excavation plan of the electric shovel, the service life of the electric shovel can be extended and the loss of the electric shovel can be reduced while ensuring work efficiency. Therefore, the problem of short service life of the electric shovel can be solved, and the effect of extending the service life of the electric shovel can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a structural block diagram of a remote control system for an electric shovel in a mining area according to an embodiment of the present invention;

[0049] Figure 2 The present invention is a flowchart of a remote control method for a mining electric shovel according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0051] In the following, the terms "first", "second", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0052] In addition, in the present application, directional terms such as "up", "down", "left" and "right" may be defined including but not limited to the orientation relative to the schematic placement of the components in the drawings. It should be understood that these directional terms may be relative concepts, which are used for relative description and clarification, and may change accordingly according to the change in the orientation of the components in the drawings.

[0053] In this application, unless otherwise specified or limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. In addition, the term "coupling" can be a way of achieving electrical connection for signal transmission.

[0054] As used herein, "about," "substantially," or "approximately" includes the stated value and an average value that is within an acceptable range of variation from the particular value as determined by one of ordinary skill in the art taking into account the measurements in question and the errors associated with the measurement of the particular quantity (i.e., the limitations of the measurement system).

[0055] In this embodiment, a structural block diagram of a remote control system for a mining electric shovel is provided, such as Figure 1 As shown, the system includes:

[0056] An electric shovel 11 is used for mining and collecting in a mining area;

[0057] A mining area data collector 12 is used to obtain mining area information, wherein the mining area information includes mining area slope and mining area environment information;

[0058] An electric shovel data collector 13, used to obtain electric shovel information, wherein the electric shovel information includes electric shovel boom parameters and electric shovel historical mining parameters;

[0059] The data processing terminal 14 is used to perform path planning calculation on the mining area information and the electric shovel information through a preset first model to obtain an electric shovel mining path and a mining area excavation plan; wherein the electric shovel mining path is obtained based on a preset constraint formula;

[0060] The 5G data transmission terminal 15 is used to receive data packets corresponding to the electric shovel mining path and the mine excavation plan, and send action instructions to the electric shovel based on the electric shovel mining path and the mine excavation plan to instruct the electric shovel to perform mining actions.

[0061] In this embodiment, the electric shovel data collector 13 includes an electric shovel sensor arranged on the electric shovel 11 and an information input terminal arranged on the vehicle body. The electric shovel boom parameters and the electric shovel historical mining parameters are obtained through the information input terminal, wherein the electric shovel boom parameters include the length of the boom, the maximum extension angle, the lifting capacity and the torque limit, etc. These parameters determine the excavation range and capacity of the electric shovel; the electric shovel sensor is used to collect working data of key parts of the electric shovel (such as the rotor, etc.), and thereby judge the wear and damage; in particular, when it is necessary to adjust the working state of the electric shovel according to the posture change of the electric shovel bucket, the electric shovel sensor can also include a sensing device for sensing the posture of the electric shovel, such as a posture gyroscope and a camera for posture image sensing and recognition; the mining area data collector 12 includes a camera set in the mining area, a mining area drone, a mining area radar vehicle, a temperature and humidity sensor, a dust collection sensor, etc., all of which are transmitted through the 5G data transmission terminal 15, and the data are processed through the data processing terminal 14; the mining area slope information includes the maximum slope, the average slope and the gradient of the slope change, and the slope information can be obtained through terrain mapping, drone aerial photography or vehicle-mounted measurement systems; the mining area environmental information includes climate conditions, geological structure, soil type, etc., and the environmental information can be obtained through meteorological stations, geological exploration reports and soil analysis. For example, climate data such as wind speed, temperature, and humidity in the mining area; in particular, in addition to the mining area slope and mining area environmental information, the mining area information also includes pre-input geological information such as the type of ore to be collected, the rock type of the mining area, the soil type, the groundwater level, and the distribution of mineral layers in the mining area.

[0062] The path planning calculation by the first model can reduce the mistakes of manual decision-making and improve the efficiency of path planning. Specifically, the first model includes the RRT (Rapid Exploration Random Tree) algorithm model. The path planning is mainly implemented through the following steps:

[0063] Step 1: First, according to the mining area information, the first model calculates the alternative path nodes and alternative excavation plans that meet the excavation requirements. Specifically, the process of calculating the alternative path nodes by the first model is as follows: first, select a starting point as the root node of the tree, which is usually set as the starting point of the current mining area excavation; then, according to the required excavation direction, randomly select a point from the pre-detected excavation points that can be excavated as a potential target point, and then find the node closest to the random point in the search tree. This node will be used as the starting point of the new path; then check whether the straight line path from the nearest node to the random point is feasible, that is, whether there are obstacles blocking the path. If the path is feasible, , calculate the path from the nearest node to the random point, and check whether this path satisfies the motion constraints of the electric shovel (such as speed and acceleration limits). If the path satisfies all constraints, add the random point to the search tree and connect it with the nearest node. Repeat the above process until the electric shovel covers all the predetermined areas. The calculation of the alternative excavation scheme is similar and will not be repeated here. Among them, the alternative excavation scheme includes: platform construction height (usually 2-4m to accommodate the reversing operation of the ore transport vehicle perpendicular to the crawler and the loading operation parallel to the crawler), platform width (usually 6-9m, where the safety distance between the crawler and the outer edge shall not be less than 0.6m, usually 0.8-1.2m), cargo rest angle (usually set to 60°), boom cylinder movement stroke, excavation direction, vehicle retreat boundary line, etc.

[0064] Step 2, screen the alternative path nodes and alternative excavation schemes according to the constraint formula and the shovel information to obtain the target path node and the target excavation scheme; for example, for the alternative path node B / B', both nodes satisfy the constraint formula, but the platform width of node B' cannot meet the requirements, then node B' is abandoned at this time, and so on; or first generate several excavation routes and excavation schemes according to all the alternative path nodes, and then calculate the length of these paths, energy consumption and arm span length of the shovel in these routes (the longer the arm span, the greater the amount of ore that can be excavated and the greater the excavable space), thereby calculating the excavation coverage of the shovel in each route, and then screen the nodes according to the coverage to obtain the route and excavation scheme with the largest coverage, and so on.

[0065] The constraint formula includes at least geometric constraints and dynamic constraints, wherein the geometric constraints include:

[0066] (Formula 1);

[0067] Where x is the position coordinate of the shovel, is the current length of the shovel arm, It is the design length of the bucket arm of the electric shovel. It is the minimum vertical height of the bottom of the bucket of the electric shovel; is the current vertical height of the shovel's bucket teeth, It is the final vertical height of the bucket teeth of the electric shovel.

[0068] The dynamic constraints include:

[0069] (Formula 2);

[0070] In the formula, is the quality of the electric shovel, is the acceleration of the shovel when it moves, is the stiffness coefficient of the system, It is the resistance to excavation.

[0071] In addition, in this embodiment, the following constraints are also included:

[0072] Performance constraints:

[0073] (Formula 3);

[0074] In the formula, It is the instantaneous lifting mechanical power of the lifting motor of the electric shovel. It is the maximum mechanical power of the lifting motor of the electric shovel. is the pushing power of the pushing motor of the electric shovel, is the maximum power of the push motor, It's pushing pressure. is the maximum push pressure, is the pushing torque, is the maximum pushing torque.

[0075] Goal-oriented constraints:

[0076] (Formula 4);

[0077] In the formula, It is the full bucket rate of the electric shovel.

[0078] Path curvature constraint:

[0079] (Formula 5);

[0080] In the formula, is the maximum permissible curvature of the shovel path, is the arc length parameter of the path.

[0081] It should be noted that in this process, in order to ensure the life of the electric shovel, the action height of the electric shovel needs to be limited so as to control the different motion states of the electric shovel, for example:

[0082] 1. Raise the bucket to a position close to the top pulley and set it as the highest point of the rise;

[0083] 2. Lower the bucket to the digging position close to the ground and set it as the lowest point of descent;

[0084] 3. Convert the moving distance of the bucket from the lowest point to the highest point into a percentage from 0 to 100%;

[0085] Then set the position threshold. When the bucket position displayed by the encoder reaches this threshold, it will enter the protection restriction area, which includes both the ascent restriction area and the descent restriction area. During the ascent of the bucket, the last 10% of the total stroke to the top is divided into the ascent restriction area. This area is subdivided into multiple levels. Each level corresponds to a different bucket driving torque, and the torque decreases step by step from large to small. When the driving torque drops to the lowest level, it is balanced with the gravity of the bucket. When the stroke reaches 100%, the ascent command of the bucket will no longer respond. During the descent of the bucket, 10% to 0% of the total stroke is divided into the descent restriction area. This area is also subdivided into multiple levels. Each level corresponds to a different bucket driving torque, and the torque increases step by step from small to large. When the stroke drops to 0%, the bucket will no longer respond to the descent command.

[0086] Through the above steps, by combining information such as the slope of the mining area with the excavation path and excavation plan of the electric shovel, the service life of the electric shovel is extended and the loss of the electric shovel is reduced while ensuring work efficiency, thereby solving the problem of short service life of the electric shovel and extending the service life of the electric shovel.

[0087] In an optional embodiment, it also includes:

[0088] A detection module is used for, after sending an action instruction to the electric shovel according to the electric shovel mining path and the mining area excavation plan to instruct the electric shovel boom to perform a mining action, detecting the extension and contraction amount of the cylinder of the disc brake of the electric shovel through a first sensor to obtain the extension and contraction amount of the cylinder; and detecting the motor bearing temperature of the electric shovel through a second sensor to obtain the motor bearing temperature information;

[0089] A wear determination module, used for determining the rotor wear information of the electric shovel according to the cylinder expansion and contraction amount;

[0090] The state calculation module is used to determine the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information and the motor bearing temperature information.

[0091] In this embodiment, during the operation of the electric shovel, the expansion and contraction amount of the cylinder and the temperature of the motor bearing have the most obvious influence on the electric shovel, so special tests need to be performed on the two.

[0092] Among them, the first sensor can be a linear displacement sensor or an encoder, and the second sensor can be a thermocouple or an infrared sensor. After obtaining the cylinder expansion and contraction amount and the motor bearing temperature, the collected cylinder expansion and contraction amount data are compared with the design parameters and historical maintenance records of the brake. At this time, if the expansion and contraction amount exceeds the normal range, it may indicate that the rotor wear is aggravated; at this time, the electric shovel coordinates, wear information and bearing temperature can be converted into a three-dimensional graph, and the volume and shape of the three-dimensional model composed of the three values ​​can be judged to determine whether the relevant values ​​are normal. For example, when the volume exceeds the preset value or the shape does not conform to the preset shape, it is determined that the working state of the electric shovel may be abnormal.

[0093] In an optional embodiment, determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information, and the motor bearing temperature information includes:

[0094] Acquire the motion information of the electric shovel, wherein the motion information includes the motion position coordinates of the electric shovel during mining and the ore loading weight, and the electric shovel coordinates include the motion position coordinates;

[0095] Constructing a mining parameter matrix according to the motion position coordinates, the ore loading weight, the rotor wear information, and the motor bearing temperature information;

[0096] A state calculation is performed on the mining parameter matrix. When the state calculation result is in a first area, it is determined that the electric shovel is in a first state; when the state calculation result is in a second area, it is determined that the electric shovel is in a second state; when the state calculation result is in a third area, it is determined that the electric shovel is in a third state.

[0097] In this embodiment, the coordinates of the electric shovel, the rotor wear and the corresponding motor bearing temperature are all different under different working conditions (such as full load and no-load). At this time, in order to improve the calculation accuracy, the motion coordinates, load weight and other information can be encoded together, and the encoded values ​​are filled into the matrix according to the preset matrix construction rules, thereby constructing a mining parameter matrix, and then the matrix is ​​numerically calculated. When the value is within the preset threshold range (corresponding to the aforementioned first area, such as [1.5-2.1]), it is determined that the electric shovel is in a normal state (corresponding to the aforementioned first state). If it is located in a specific area within the preset range (corresponding to the aforementioned second area, such as [1.5-1.6]∪[2.0-2.1]), it is determined to be in a critical state (corresponding to the aforementioned second state), otherwise it is determined to be in an abnormal state (corresponding to the aforementioned third state); of course, in addition to performing matrix value calculations, the mining parameter matrix can also be correlated with the historical mining parameter matrix. When the correlation value is within the preset range, it is determined to be normal. If it is within a specific small range within the preset range, it is determined to be a critical state. Otherwise, it is determined to be abnormal, and so on.

[0098] In this embodiment, a remote control method for a mining electric shovel is also provided, which is applied to the aforementioned remote control system for a mining electric shovel. Figure 2 is a flow chart of a remote control method for a mining electric shovel according to an embodiment of the present invention, such as Figure 2 As shown, the process includes the following steps:

[0099] Step S21, obtaining mining area information and electric shovel information, wherein the mining area information includes mining area slope and mining area environment information, and the electric shovel information includes electric shovel boom parameters and electric shovel historical mining parameters;

[0100] Step S22, performing path planning calculation on the mining area information and the electric shovel information through a preset first model to obtain an electric shovel mining path and a mining area excavation plan; wherein the electric shovel mining path is obtained based on a preset constraint formula, and the path planning includes calculating alternative path nodes and alternative excavation plans that meet the excavation requirements through the first model according to the mining area information, and the alternative excavation plans include platform construction height, platform width, cargo source repose angle, boom cylinder movement stroke, excavation direction, and vehicle retreat boundary line; the alternative path nodes and alternative excavation plans are screened according to the constraint formula and the electric shovel information to obtain the target path node and the target excavation plan, the electric shovel mining path includes the target path node, and the mining area excavation plan includes the target excavation plan; the screening process includes the following steps: calculating the length, energy consumption, and arm span length of multiple routes composed of the target path node and the target excavation plan, and determining the excavation coverage of the electric shovel in each route according to the constraint formula and the electric shovel information, and then screening each route according to the coverage;

[0101] Step S23, according to the electric shovel mining path and the mining excavation plan, an action instruction is sent to the electric shovel through the 5G network to instruct the electric shovel arm to perform mining action.

[0102] In an optional embodiment, after sending an action instruction to the electric shovel according to the electric shovel mining path and the mining area excavation plan to instruct the electric shovel boom to perform a mining action, the information method further includes:

[0103] Step S24, detecting the extension and contraction amount of the cylinder of the disc brake of the electric shovel by the first sensor to obtain the extension and contraction amount of the cylinder; and detecting the motor bearing temperature of the electric shovel by the second sensor to obtain the motor bearing temperature information;

[0104] Step S25, determining the rotor wear information of the electric shovel according to the cylinder expansion and contraction amount;

[0105] Step S26, determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information and the motor bearing temperature information.

[0106] In an optional embodiment, determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information, and the motor bearing temperature information includes:

[0107] Step S261, acquiring the motion information of the electric shovel, wherein the motion information includes the motion position coordinates of the electric shovel during mining and the ore loading weight, and the electric shovel coordinates include the motion position coordinates;

[0108] Step S262, constructing a mining parameter matrix according to the motion position coordinates, the ore loading weight, the rotor wear information, and the motor bearing temperature information;

[0109] Step S263, performing state calculation on the mining parameter matrix, and when the state calculation result is in the first area, determining that the electric shovel is in the first state; when the state calculation result is in the second area, determining that the electric shovel is in the second state; when the state calculation result is in the third area, determining that the electric shovel is in the third state.

[0110] In an optional embodiment, the constraint formula includes at least a geometric constraint and a dynamic constraint, wherein the geometric constraint includes:

[0111] (Formula 6);

[0112] Where x is the position coordinate of the shovel, is the current length of the shovel arm, It is the design length of the bucket arm of the electric shovel. It is the minimum vertical height of the bottom of the bucket of the electric shovel; is the current vertical height of the shovel's bucket teeth, It is the final vertical height of the bucket teeth of the electric shovel.

[0113] The dynamic constraints include:

[0114] (Formula 7);

[0115] In the formula, is the quality of the electric shovel, is the acceleration of the shovel when it moves, is the stiffness coefficient of the system, It is the resistance to excavation.

[0116] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0117] In this embodiment, a remote control system for a mining electric shovel is also provided, which is used to implement the above-mentioned embodiments and preferred implementations, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0118] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0119] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0120] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0121] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0122] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0123] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0124] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0125] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0126] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0127] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0128] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A remote control system for an electric shovel in a mining area, characterized in that: include: Electric shovel, used for mining and collection in mining areas; A mining area data collector, used to obtain mining area information, wherein the mining area information includes mining area slope and mining area environment information; An electric shovel data collector, used to obtain electric shovel information, wherein the electric shovel information includes electric shovel boom parameters and electric shovel historical mining parameters; The data processing end is used to perform path planning calculation on the mining area information and the electric shovel information through a preset first model to obtain the electric shovel mining path and the mining area excavation plan; wherein, the first model includes a fast exploration random tree algorithm model, and the electric shovel mining path is obtained based on a preset constraint formula. The path planning includes: step 1, according to the mining area information, the first model is used to calculate the alternative path nodes and the alternative excavation plan that meet the excavation requirements, wherein the alternative path node calculation by the first model includes: selecting a starting point as the root node of the tree; then randomly selecting a point from the pre-detected excavation points that can be excavated according to the direction of excavation required as a potential target point, and then finding the node closest to the random point in the search tree, and this node will be used as the starting point of the new path; then checking whether the straight line path from the nearest node to the random point is feasible, that is, whether there are obstacles blocking the path. If the path is feasible, calculate the path from the nearest node to the random point, and check whether this path meets the movement of the electric shovel. Constraints, if the path satisfies all constraints, add the random point to the search tree, and connect the random point with the nearest node, repeat the above process until the electric shovel covers all the predetermined areas, and the calculation of the alternative excavation scheme is similarly processed; step 2, according to the constraint formula and the electric shovel information, the alternative path nodes and the alternative excavation schemes are screened to obtain the target path nodes and the target excavation scheme; the electric shovel mining path includes the target path node, and the mining area excavation scheme includes the target excavation scheme; the alternative excavation scheme includes the platform construction height, platform width, cargo source repose angle, boom cylinder movement stroke, excavation direction, and vehicle retreat boundary line; the screening process includes the following steps: calculating the length, energy consumption and arm span length of the multiple routes composed of the target path node and the target excavation scheme, and determining the excavation coverage of the electric shovel in each route according to the constraint formula and the electric shovel information, and then screening each route according to the coverage; The 5G data transmission terminal is used to receive data packets corresponding to the electric shovel mining path and the mine excavation plan, and send action instructions to the electric shovel based on the electric shovel mining path and the mine excavation plan to instruct the electric shovel to perform mining actions; Among them, it also includes: A detection module is used for, after sending an action instruction to the electric shovel based on the electric shovel mining path and the mining area excavation plan to instruct the electric shovel to perform a mining action, detecting the extension and contraction amount of the cylinder of the disc brake of the electric shovel through a first sensor to obtain the extension and contraction amount of the cylinder; and detecting the motor bearing temperature of the electric shovel through a second sensor to obtain the motor bearing temperature information; A wear determination module, used for determining the rotor wear information of the electric shovel according to the cylinder expansion and contraction amount; A state calculation module, used for determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information and the motor bearing temperature information; The constraint formula includes at least geometric constraints and dynamic constraints, wherein the geometric constraints include: ； Where x is the position coordinate of the shovel, is the current length of the shovel arm, It is the design length of the bucket arm of the electric shovel. It is the minimum vertical height of the bottom of the bucket of the electric shovel; is the current vertical height of the shovel's bucket teeth, is the final vertical height of the shovel’s bucket teeth; The dynamic constraints include: ； In the formula, is the quality of the electric shovel, is the acceleration of the shovel when it moves, is the stiffness coefficient of the system, It is the resistance to excavation.

2. The remote control system for a mining electric shovel according to claim 1, characterized in that: The determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information, and the motor bearing temperature information comprises: Acquire the motion information of the electric shovel, wherein the motion information includes the motion position coordinates of the electric shovel during mining and the ore loading weight, and the electric shovel coordinates include the motion position coordinates; Constructing a mining parameter matrix according to the motion position coordinates, the ore loading weight, the rotor wear information, and the motor bearing temperature information; A state calculation is performed on the mining parameter matrix. When the state calculation result is in a first area, it is determined that the electric shovel is in a normal state; when the state calculation result is in a second area, it is determined that the electric shovel is in a critical state; when the state calculation result is in a third area, it is determined that the electric shovel is in an abnormal state.

3. A remote control method for an electric shovel in a mining area, characterized in that: A remote control system for a mining electric shovel as claimed in any one of claims 1 to 2, comprising: Acquire mining area information and electric shovel information, wherein the mining area information includes mining area slope and mining area environment information, and the electric shovel information includes electric shovel boom parameters and electric shovel historical mining parameters; The path planning calculation is performed on the mining area information and the electric shovel information through a preset first model to obtain the electric shovel mining path and the mining area excavation plan; wherein, the first model includes a fast exploration random tree algorithm model, and the electric shovel mining path is obtained based on a preset constraint formula. The path planning includes: step 1, according to the mining area information, the first model is used to calculate the alternative path nodes and alternative excavation plans that meet the excavation requirements, wherein the alternative path node calculation performed by the first model includes: selecting a starting point as the root node of the tree; then randomly selecting a point from the pre-detected excavation points that can be excavated according to the required excavation direction as a potential target point, and then finding the node closest to the random point in the search tree, and this node will be used as the starting point of the new path; then checking whether the straight line path from the nearest node to the random point is feasible, that is, whether there are obstacles blocking the path. If the path is feasible, calculate the path from the nearest node to the random point, and check whether this path satisfies the motion constraints of the electric shovel, such as If the path satisfies all constraints, add the random point to the search tree, and connect the random point with the nearest node, repeat the above process until the electric shovel covers all the predetermined areas, and the calculation of the alternative excavation scheme is similarly processed; step 2, according to the constraint formula and the electric shovel information, the alternative path nodes and the alternative excavation schemes are screened to obtain the target path node and the target excavation scheme; the electric shovel mining path includes the target path node, and the mining area excavation scheme includes the target excavation scheme; the alternative excavation scheme includes the platform construction height, platform width, cargo source repose angle, boom cylinder movement stroke, excavation direction, and vehicle retreat boundary line; the screening process includes the following steps: calculating the length, energy consumption and arm span length of the multiple routes composed of the target path node and the target excavation scheme, and determining the excavation coverage of the electric shovel in each route according to the constraint formula and the electric shovel information, and then screening each route according to the coverage; According to the electric shovel mining path and the mining area excavation plan, an action instruction is sent to the electric shovel through the 5G network to instruct the electric shovel arm to perform mining action; Wherein, after sending an action instruction to the electric shovel based on the electric shovel mining path and the mining area excavation plan to instruct the electric shovel to perform a mining action, the method further includes: The expansion and contraction amount of the cylinder of the disc brake of the electric shovel is detected by the first sensor to obtain the expansion and contraction amount of the cylinder; and the motor bearing temperature of the electric shovel is detected by the second sensor to obtain the motor bearing temperature information; Determining rotor wear information of the electric shovel according to the cylinder extension amount; Determine the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information and the motor bearing temperature information; The constraint formula includes at least geometric constraints and dynamic constraints, wherein the geometric constraints include: ； Where x is the position coordinate of the shovel, is the current length of the shovel arm, It is the design length of the bucket arm of the electric shovel. It is the minimum vertical height of the bottom of the bucket of the electric shovel; is the current vertical height of the shovel's bucket teeth, is the final vertical height of the shovel’s bucket teeth; The dynamic constraints include: ； In the formula, is the quality of the electric shovel, is the acceleration of the shovel when it moves, is the stiffness coefficient of the system, It is the resistance to excavation.

4. The method according to claim 3, characterized in that The determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information, and the motor bearing temperature information comprises: Acquire the motion information of the electric shovel, wherein the motion information includes the motion position coordinates of the electric shovel during mining and the ore loading weight, and the electric shovel coordinates include the motion position coordinates; Constructing a mining parameter matrix according to the motion position coordinates, the ore loading weight, the rotor wear information, and the motor bearing temperature information; A state calculation is performed on the mining parameter matrix. When the state calculation result is in a first area, it is determined that the electric shovel is in a normal state; when the state calculation result is in a second area, it is determined that the electric shovel is in a critical state; when the state calculation result is in a third area, it is determined that the electric shovel is in an abnormal state.

5. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the method according to any one of claims 3 to 4 when executed.

6. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method according to any one of claims 3 to 4.

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