Control method for automatically returning unmanned mining truck to maintenance point

Abstract

The invention discloses a control method for an unmanned mining truck to automatically return to a maintenance point, and the method comprises the steps: S1, enabling an information interaction module to carry out the information interaction with a mining area master control platform, and submitting fault information when a mine truck A breaks down; s2, after receiving the fault information of the mine car A, the mine area master control platform judges whether the following running condition is met, and if the following running condition is met, any normally running mine car B near the mine car A is dispatched; s3, the mine truck B goes to the front of the mine truck A after obtaining the instruction of the mine area master control platform; s4, the mining area master control platform calculates a route and issues a car following instruction; s5, after receiving the information of the mining area master control platform, the mine truck A and the mine truck B run to a maintenance point according to the calculated route; and S6, after the mine truck A and the mine truck B arrive at the maintenance point, the task is ended. The method solves the current situation that the vehicle can only be controlled to return to the maintenance point through manual intervention after a fault occurs, so that the construction operation is more intelligent, and the labor cost is lower.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned mining trucks, and in particular to a control method for an unmanned mining truck to automatically return to a maintenance point. Background Art

[0002] In the modern mining process, the automation and unmanned driving technology of mining trucks have become the key factors to improve the efficiency of mining operations and reduce costs. In the mining area, when the mining truck only fails in image acquisition and processing capabilities, but the external reception, feedback and vehicle driving functions are normal, manual intervention is generally required to guide the vehicle back to the maintenance point through the mine area master control platform.

[0003] However, the manual intervention method to control the operation of faulty mining trucks has limited the improvement of operating efficiency and increased labor costs.

[0004] Therefore, based on the above technical problems, technicians in this field urgently need to develop a control method for an unmanned mining truck to automatically return to a maintenance point. Summary of the invention

[0005] The purpose of the present invention is to provide a control method for the automatic return of an unmanned mining truck to a maintenance point, which realizes efficient coordination between unmanned mining trucks, solves the current situation where the vehicle can only be returned to the maintenance point by manual intervention and remote control after a failure occurs, making construction operations more intelligent and reducing labor costs.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A control method for an unmanned mining truck to automatically return to a maintenance point according to the present invention comprises the following steps:

[0008] Step S1: When a fault occurs in the mining truck A, the information exchange module exchanges information with the mining area master control platform and submits the fault information;

[0009] Step S2: After receiving the fault information of the mining truck A, the mine area control platform determines whether the conditions for following the vehicle are met. If so, any normal operating mining truck B near the mining truck A is dispatched; otherwise, manual intervention is performed;

[0010] Step S3: After receiving the instruction from the mine area master control platform, the mining truck B moves in front of the mining truck A;

[0011] Step S4: After the mining truck B arrives in front of the mining truck A, the mine area control platform calculates the route and issues a follow-up instruction;

[0012] Step S5: After receiving the information from the mine area master control platform, the mining truck A and the mining truck B drive to the maintenance point according to the calculated route;

[0013] Step S6: After the mining truck A and the mining truck B arrive at the maintenance point, the task is completed.

[0014] Furthermore, in step S1, the fault of the mining truck A is that the image acquisition and processing capabilities fail, and the functions of the mining truck A to receive and feedback information externally and control vehicle driving are normal;

[0015] In step S1, when a mining truck A breaks down, it first stops in an area that does not affect the operation of other mining trucks in the mining area and waits for rescue by mining truck B.

[0016] Furthermore, in step S5, mining truck B obtains real-time road conditions and transmits them to mining truck A through the information interaction module. Mining truck A receives the real-time road condition information sent by mining truck B and follows the vehicle to the maintenance point.

[0017] Furthermore, in step S6, after the mine truck B implements the rescue, the mine area master control platform issues a command to control the mine truck B to return to the mine area to continue operations.

[0018] Furthermore, each mining truck is equipped with an on-board sensor network consisting of temperature sensors, vibration sensors and oil pressure sensors, and the key indicators of the mining truck are monitored in real time through the corresponding sensors of the on-board sensor network;

[0019] The onboard system of the mining truck has a data processing unit, which receives data monitored by all sensors and uses a preset algorithm to analyze possible anomalies;

[0020] The onboard system of the mining truck has a communication module, which is used to send vehicle status data to a cloud server and receive instructions from the server;

[0021] The onboard system of the mining truck has a navigation system, which is provided with a GPS module and a pre-installed mining area map, and is used to determine the location of the mining truck and calculate the route to the maintenance point through the navigation system;

[0022] The on-board system of the mining truck has a control execution unit, which is used to control the steering, acceleration and braking of the mining truck and implement automatic navigation.

[0023] Furthermore, the vehicle-mounted sensor network monitors the vehicle's operating data in real time and compares it with normal parameters;

[0024] The mine control platform calculates and analyzes data to identify any possible failure modes;

[0025] Once the mine control platform detects a potential fault, the system will classify it according to the fault level and type, and control the mining truck to stop immediately or stop after completing the current task and wait for repair.

[0026] In the above technical solution, the control method for automatically returning an unmanned mining truck to a maintenance point provided by the present invention has the following beneficial effects:

[0027] The control method of the present invention realizes efficient coordination between unmanned mining trucks, solves the current situation that vehicles can only be remotely controlled by manual intervention to return to the maintenance point after a failure occurs, makes construction operations more intelligent and reduces labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. It is obvious that the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0029] Figure 1 This is a flow chart of step S1 of a control method for an unmanned mining truck to automatically return to a maintenance point disclosed in an embodiment of the present invention;

[0030] Figure 2 This is a flow chart of step S2 of the control method for automatically returning an unmanned mining truck to a maintenance point disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0032] See also Figure 1-2 As shown;

[0033] A control method for an unmanned mining truck to automatically return to a maintenance point in this embodiment includes the following steps:

[0034] Step S1: When a fault occurs in the mining truck A, the information exchange module exchanges information with the mining area master control platform and submits the fault information;

[0035] Step S2: After receiving the fault information of the mining truck A, the mine area control platform determines whether the conditions for following the vehicle are met. If so, any normal operating mining truck B near the mining truck A is dispatched; otherwise, manual intervention is performed;

[0036] Step S3: After receiving the instruction from the mine area master control platform, the mining truck B moves in front of the mining truck A;

[0037] Step S4: After the mining truck B arrives in front of the mining truck A, the mine area control platform calculates the route and issues a follow-up instruction;

[0038] Step S5: After receiving the information from the mine area master control platform, the mining truck A and the mining truck B drive to the maintenance point according to the calculated route;

[0039] Step S6: After the mining truck A and the mining truck B arrive at the maintenance point, the task is completed.

[0040] Specifically, this embodiment discloses a control method for an unmanned mining truck to automatically return to a maintenance point. The unmanned mining truck in this embodiment is referred to as a mining truck. Each mining truck has a unique mining truck ID number. Each mining truck is integrated with a control module, which exchanges information with the mine area master control platform through an information interaction module. The faulty mining truck is set as mining truck A, and the non-faulty mining truck is set as mining truck B. According to the steps of this embodiment, see Figure 1 As shown, first, in step S1, when a mine truck A fails, the information is exchanged with the mine area master control platform through the information interaction module, and the fault information is submitted; then, see Figure 2 As shown, in step S2, after receiving the fault information of the mining truck A, the mine area control platform determines whether the conditions for following the vehicle are met. If so, the mining truck B is dispatched to drive in front of the mining truck A to prepare for the following operation. The mine area control platform involved in this embodiment needs to have the functions of road condition analysis and calculation, vehicle following driving control, and manual intervention remote control of the vehicle.

[0041] After mining truck A follows mining truck B back to the nearest maintenance point, the mine area master control platform sends a designated control to mining truck B to continue normal operation according to the designated route.

[0042] Preferably, in step S1 of this embodiment, the fault of the mining truck A is: the image acquisition and processing capabilities fail, and the functions of the mining truck A to receive and feedback information externally and control vehicle driving are normal;

[0043] Preferably, in step S1 of this embodiment, when mining truck A breaks down, it first stops in an area that does not affect the operation of other mining trucks in the mining area and waits for rescue by mining truck B.

[0044] Preferably, in step S5 of this embodiment, mining truck B obtains real-time road conditions and transmits them to mining truck A through the information interaction module. Mining truck A receives the real-time road condition information sent by mining truck B and then follows the vehicle to the maintenance point.

[0045] Preferably, in step S6 of this embodiment, after the mining truck B implements the rescue, the mine area master control platform issues a command to control the mining truck B to return to the mining area to continue operations.

[0046] In addition, the system architecture of the mining card and the mining area master control platform of this embodiment is specifically defined as follows:

[0047] First, each mining truck in this embodiment is provided with an on-board sensor network consisting of a temperature sensor, a vibration sensor and an oil pressure sensor, and the key indicators of the mining truck are monitored in real time through the corresponding sensors of the on-board sensor network;

[0048] The mining truck’s onboard system has a data processing unit, which receives data monitored by all sensors and uses a preset algorithm to analyze possible anomalies;

[0049] The mining truck’s onboard system has a communication module, which is used to send vehicle status data to a cloud server and receive instructions from the server;

[0050] The mining truck’s onboard system has a navigation system, which is equipped with a GPS module and a pre-installed mining area map. The navigation system is used to determine the location of the mining truck and calculate the route to the maintenance point.

[0051] The on-board system of the mining truck has a control execution unit, which is used to control the steering, acceleration and braking of the mining truck and implement automatic navigation.

[0052] Secondly, the fault detection and decision-making process is:

[0053] The vehicle-mounted sensor network of this embodiment monitors the vehicle's operating data in real time and compares it with normal parameters;

[0054] The mine control platform calculates and analyzes the data to identify any possible failure modes;

[0055] Once the mine control platform detects a potential fault, the system will classify it according to the fault level and type, and control the mining truck to stop immediately or stop after completing the current task and wait for repair.

[0056] Automatic rework control:

[0057] Maintenance point positioning and path planning: The system automatically locates the nearest suitable maintenance point and calculates the optimal path;

[0058] Automatic driving to the maintenance point: The navigation system guides the mining truck to automatically drive to the maintenance point along the calculated path;

[0059] Maintenance point interaction: When approaching a maintenance point, the system will notify the maintenance point to prepare for work and transmit necessary vehicle fault information.

[0060] Safety and redundancy measures:

[0061] Redundant system design: Redundant design is used for key components, such as dual GPS systems and multi-channel communication systems, to ensure smooth transition in case of failure;

[0062] Emergency intervention measures: In certain circumstances, such as widespread system failures, manual remote intervention can be used to ensure safety.

[0063] In the above technical solution, the control method for automatically returning an unmanned mining truck to a maintenance point provided by the present invention has the following beneficial effects:

[0064] The control method of the present invention realizes efficient coordination between unmanned mining trucks, solves the current situation that vehicles can only be remotely controlled by manual intervention to return to the maintenance point after a failure occurs, makes construction operations more intelligent and reduces labor costs.

[0065] The control method of the present invention realizes the automatic return of the unmanned mining truck to the maintenance point by adding a new control strategy to the hardware and software on the unmanned mining truck, and has the advantages of strong practicality, high accuracy, good real-time performance and strong anti-interference ability.

[0066] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A control method for an unmanned mining truck to automatically return to a maintenance point, characterized in that: The control method comprises the following steps: Step S1: When a fault occurs in the mining truck A, the information exchange module exchanges information with the mining area master control platform and submits the fault information; Step S2: After receiving the fault information of the mining truck A, the mine area control platform determines whether the conditions for following the vehicle are met. If so, any normal operating mining truck B near the mining truck A is dispatched; otherwise, manual intervention is performed; Step S3: After receiving the instruction from the mine area master control platform, the mining truck B moves in front of the mining truck A; Step S4: After the mining truck B arrives in front of the mining truck A, the mine area control platform calculates the route and issues a follow-up instruction; Step S5: After receiving the information from the mine area master control platform, the mining truck A and the mining truck B drive to the maintenance point according to the calculated route; Step S6: After the mining truck A and the mining truck B arrive at the maintenance point, the task is completed.

2. A control method for an unmanned mining truck to automatically return to a maintenance point according to claim 1, characterized in that: In step S1, the fault of the mining truck A is that the image acquisition and processing capabilities fail, and the functions of the mining truck A to receive and feedback information and control the vehicle driving are normal; In step S1, when a mining truck A breaks down, it first stops in an area that does not affect the operation of other mining trucks in the mining area and waits for rescue by mining truck B.

3. The control method for automatically returning an unmanned mining truck to a maintenance point according to claim 1 is characterized in that: In step S5, mining truck B obtains the real-time road condition and transmits it to mining truck A through the information interaction module. After receiving the real-time road condition information sent by mining truck B, mining truck A follows the vehicle to the maintenance point.

4. The control method for automatically returning an unmanned mining truck to a maintenance point according to claim 1 is characterized in that: In step S6, after the mine truck B implements the rescue, the mine area master control platform issues a command to control the mine truck B to return to the mine area to continue operations.

5. The control method for automatically returning an unmanned mining truck to a maintenance point according to claim 1 is characterized in that: Each mining truck is equipped with an on-board sensor network consisting of temperature sensors, vibration sensors and oil pressure sensors. The corresponding sensors of the on-board sensor network monitor the key indicators of the mining truck in real time. The onboard system of the mining truck has a data processing unit, which receives data monitored by all sensors and uses a preset algorithm to analyze possible anomalies; The onboard system of the mining truck has a communication module, which is used to send vehicle status data to a cloud server and receive instructions from the server; The onboard system of the mining truck has a navigation system, which is provided with a GPS module and a pre-installed mining area map, and is used to determine the location of the mining truck and calculate the route to the maintenance point through the navigation system; The on-board system of the mining truck has a control execution unit, which is used to control the steering, acceleration and braking of the mining truck and implement automatic navigation.

6. A control method for an unmanned mining truck to automatically return to a maintenance point according to claim 5, characterized in that: The on-board sensor network monitors the vehicle's operating data in real time and compares it with normal parameters; The mine control platform calculates and analyzes data to identify any possible failure modes; Once the mine control platform detects a potential fault, the system will classify it according to the fault level and type, and control the mining truck to stop immediately or stop after completing the current task and wait for repair.

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