Mining trackless rubber-tyred vehicle dispatching system

Abstract

The invention discloses a mining trackless rubber-tyred vehicle dispatching system which comprises a data acquisition module, a positioning and tracking module, a dispatching control module and a statistical analysis module. The data acquisition module and the positioning tracking module are respectively connected with the scheduling control module, and the scheduling control module is connected with the statistical analysis module; the running state information of the mining trackless rubber-tyred vehicle is acquired through the data acquisition module, the position information of the mining trackless rubber-tyred vehicle is acquired through the positioning and tracking module, task allocation, path planning and optimization are performed on the mining trackless rubber-tyred vehicle through the scheduling control module according to the running state information and the position information, and scheduling information is generated. And performing statistical analysis on the scheduling information through a scheduling control module, performing statistical analysis on the scheduling information through a statistical analysis module, and generating a scheduling report and statistical data.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine engineering, and in particular relates to a dispatching system for a trackless rubber-tyred vehicle for mining. Background Art

[0002] The trackless rubber-tyred vehicle for mining is one of the important equipment of the underground auxiliary transportation system of coal mines. It mainly undertakes the task of transporting production materials and personnel underground. The underground working environment is complex and changeable. The trackless rubber-tyred vehicle faces various safety risks during transportation, such as collision, falling, mechanical failure, etc., which has caused a series of safety accidents, seriously affecting the efficiency of coal transportation and the safety of life and property of mine workers. With the rapid development of the coal industry, the demand for intelligent and automated production in coal mines is becoming increasingly urgent. The existing underground trackless rubber-tyred vehicle dispatching system cannot realize the interconnection between people, vehicles and controllers, and faces great challenges in the process of intelligent realization. The traditional dispatching and management method of trackless rubber-tyred vehicles in coal mines relies on manual operation and traditional dispatching methods. This method has problems such as low efficiency, insufficient precision and poor safety, and can no longer meet the needs of modern coal mine production. Therefore, it is necessary to design a dispatching system for trackless rubber-tyred vehicles in coal mines to improve dispatching efficiency and enhance operation safety. Summary of the invention

[0003] In order to solve the above technical problems, the present invention proposes a scheduling system for mine-used rubber-tyred trackless vehicles, which can reflect the current position, task type, priority and other factors of the trackless rubber-tyred vehicles, determine the tasks and sequence that each trackless rubber-tyred vehicle should perform, thereby improving the safety of underground operations and transportation efficiency, so as to solve the problems existing in the above-mentioned prior art.

[0004] To achieve the above object, the present invention provides a dispatching system for a trackless rubber-tyred vehicle for mining, comprising:

[0005] A data acquisition module, a positioning and tracking module, a dispatching and control module, and a statistical analysis module; the data acquisition module and the positioning and tracking module are respectively connected to the dispatching and control module, and the dispatching and control module is connected to the statistical analysis module;

[0006] The operation status information of the mine trackless rubber-tyred vehicle is obtained through the data acquisition module, the position information of the mine trackless rubber-tyred vehicle is obtained through the positioning and tracking module, the task allocation, path planning and optimization of the mine trackless rubber-tyred vehicle are performed according to the operation status information and the position information through the scheduling control module, and scheduling information is generated. The scheduling information is statistically analyzed through the scheduling control module, and the scheduling information is statistically analyzed through the statistical analysis module to generate a scheduling report and statistical data.

[0007] Optionally, the data acquisition module includes a speed sensor, wherein the speed sensor is arranged on the cab chassis of the mining rubber-tyred trackless vehicle.

[0008] Optionally, the positioning and tracking module includes a UWB tag and an inertial measurement unit, and the information collected by the UWB tag and the inertial measurement unit is jointly positioned to obtain position information, wherein the UWB tag is set on the roof of the trackless rubber-tyred vehicle, and the inertial measurement unit is set on the chassis of the trackless rubber-tyred vehicle.

[0009] Optionally, the dispatching control module obtains daily tasks, task types and dispatching priorities of the trackless rubber-tyred mining vehicles in real time, and allocates daily tasks to the trackless rubber-tyred mining vehicles based on the location information, task type and dispatching priority, and obtains the tasks to be performed and the task sequence of the trackless rubber-tyred mining vehicles. According to the tasks to be performed and the task sequence, combined with the location information of the trackless rubber-tyred mining vehicles and the layout and traffic rules of the mine, the path planning and optimization of the trackless rubber-tyred mining vehicles are carried out to obtain the optimal operating path of each trackless rubber-tyred mining vehicle, that is, the dispatching information.

[0010] Optionally, in the scheduling control module, after obtaining the tasks to be performed and the task sequence, it also includes obtaining a vehicle application, approving the vehicle application, automatically scheduling according to the vehicle number, and publishing the scheduling results, issuing daily vehicle use instructions according to the scheduling results, and each mining trackless rubber-tyred vehicle starts to execute the tasks to be executed according to the daily vehicle use instructions, and according to the task sequence of the tasks to be executed, each mining trackless rubber-tyred vehicle executes the tasks to be executed in turn, wherein when the current task to be executed of the mining trackless rubber-tyred vehicle is completed, the next task to be executed is executed according to the task sequence, and during the task execution process, the vehicle anti-collision prompt is issued and the driving record is obtained until all the tasks to be executed are completed and the vehicle delivery result is obtained.

[0011] Optionally, in the dispatching control module, when an emergency task or an unexpected situation occurs, the emergency task is acquired, and the execution of tasks and the order of tasks of the mining rubber-tyred trackless vehicle are dynamically adjusted according to the emergency task.

[0012] Optionally, in the dispatching control module, when an emergency task or an emergency occurs, when the scheduling result has not been released, an emergency task execution instruction is directly generated and issued, and a mining trackless rubber-tyred vehicle is dispatched to execute the emergency task. When the scheduling result has been released, an emergency task execution instruction is generated and issued, and the corresponding mining trackless rubber-tyred vehicle is dispatched to handle the emergency vehicle dispatch task alone.

[0013] Optionally, in the dispatching control module, the vehicle application of the vehicle-using department is obtained, and the mine trackless rubber-tyred vehicle is dispatched to the corresponding position of the vehicle application of the vehicle-using department according to the vehicle application of the vehicle-using department and the position information of the mine trackless rubber-tyred vehicle; the application for underground operation vehicle is obtained, and according to the position information of the mine trackless rubber-tyred vehicle, one or several nearest mine trackless rubber-tyred vehicles are dispatched to the corresponding position of the underground operation vehicle application, and at the same time, the dispatched mine trackless rubber-tyred vehicle interacts with the dispatching control module.

[0014] Compared with the prior art, the present invention has the following advantages and technical effects:

[0015] By adopting intelligent planning and task allocation algorithms, the present invention can automatically and quickly formulate a reasonable scheduling plan based on factors such as the operating status of the trackless rubber-tyred vehicle, operating requirements, and mine layout. This not only reduces manual intervention and decision-making time, but also improves the accuracy and executability of the scheduling plan, thereby significantly improving the overall efficiency of the scheduling of trackless rubber-tyred vehicles in coal mines. The present invention uses UWB fusion positioning technology to achieve accurate positioning and real-time tracking of trackless rubber-tyred vehicles. Through the intelligent scheduling system of the present invention, the optimal configuration and rational utilization of trackless rubber-tyred vehicle resources can be achieved. At the same time, the system can also perform statistical analysis on the operating conditions of trackless rubber-tyred vehicles based on historical data and real-time information, provide strong data support for decision makers, and help optimize the transportation organization and production plan of the mine. The intelligent scheduling system of the present invention not only improves the scheduling efficiency and operation safety, but also improves the management level of coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 A schematic diagram of the installation positions of a data acquisition module device and a positioning and tracking module device according to an embodiment of the present invention;

[0018] Figure 2 is a flowchart of an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of an intelligent dispatching management process of a trackless rubber-tyred vehicle according to an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of the structure of a dispatching system for trackless rubber-tyred vehicles in a coal mine according to an embodiment of the present invention;

[0021] Among them, 1-speed sensor; 2-chassis of the cab of the trackless rubber-tyred vehicle; 3-chassis of the trackless rubber-tyred vehicle; 4-inertial measurement unit; 5-UWB tag; 6-roof of the trackless rubber-tyred vehicle. DETAILED DESCRIPTION

[0022] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0024] In view of the problems existing in the prior art, the present invention provides a scheduling system for trackless rubber-tyred vehicles for mining, which can reflect the current position, task type, priority and other factors of the trackless rubber-tyred vehicles, determine the tasks and sequence that each trackless rubber-tyred vehicle should perform, thereby improving the safety of underground operations and transportation efficiency. By adopting intelligent planning and task allocation algorithms, the present invention can automatically and quickly formulate a reasonable scheduling plan based on factors such as the operating status of the trackless rubber-tyred vehicles, operating requirements and mine layout.

[0025] The system is used for underground trackless rubber-tyred vehicle dispatching. Through the coordinated action of data acquisition module, positioning and tracking module, dispatching control module and statistical analysis module, the intelligent dispatching of rubber-tyred vehicles is realized, and the operation efficiency and safety are improved. The present invention distributes tasks to trackless rubber-tyred vehicles through the coordinated action of data acquisition module, positioning and tracking module, dispatching control module and statistical analysis module, thereby realizing intelligent arrangements such as rubber-tyred vehicle positioning, priority selection, and execution order of tasks, and improving the transportation efficiency of underground rubber-tyred vehicles.

[0026] To achieve the above object, the present invention provides the following technical solutions:

[0027] like Figure 4 As shown, a dispatching system for trackless rubber-tyred vehicles in coal mines includes a data acquisition module, a positioning and tracking module, a dispatching control module and a statistical analysis module; the data acquisition module and the positioning and tracking module are used to collect the running status information and the position information of the trackless rubber-tyred vehicles respectively; the positioning and tracking module adopts ultra-wideband (UWB) fusion positioning technology to realize the precise positioning of the trackless rubber-tyred vehicles; the dispatching control module performs intelligent planning and task allocation according to the collected data; the statistical analysis module performs statistical analysis on the dispatching results.

[0028] The positioning and tracking module also has the function of sharing a base station with a precise personnel positioning system to achieve the positioning of the trackless rubber-tyred vehicle.

[0029] The statistical analysis module also includes a trackless rubber-tyred vehicle information management function for inputting and managing the identification numbers of the trackless rubber-tyred vehicles.

[0030] The statistical analysis module supports real-time query of the latest positioning position, time and approaching direction of the rubber-tyred trackless vehicle, and supports data screening according to the type and number of the rubber-tyred trackless vehicle.

[0031] The dispatching control module has early warning and avoidance functions. When potential collision risks or safety hazards are detected, it can automatically trigger the early warning mechanism to alert relevant personnel and take corresponding avoidance measures to ensure operational safety.

[0032] The purpose of the present invention is to provide a coal mine trackless rubber-tyred vehicle dispatching system, which can realize efficient and accurate dispatching of coal mine trackless rubber-tyred vehicles through functions such as intelligent planning, task allocation, real-time positioning, and intelligent management and control.

[0033] The above technical solution of this application is described in detail:

[0034] The system includes a data acquisition module, a positioning and tracking module, a scheduling and control module, and a statistical analysis module. The data acquisition module uses a speed sensor 1, the positioning and tracking module uses an ultra-wideband UWB tag 5 and an inertial measurement unit 4 (IMU), and the scheduling and control module and the statistical analysis module both use computers.

[0035] The data acquisition module is used to collect the running status information of the rubber-tyred trackless vehicle, namely the speed data, in real time; the positioning and tracking module adopts UWB fusion positioning technology, and the UWB tag 5 is combined with the inertial measurement unit 4 and the wireless signal transmission technology to realize the precise positioning of the rubber-tyred trackless vehicle, and the positioning accuracy reaches the centimeter level, ensuring the accuracy and reliability of the dispatch; the dispatch control module uses the information provided by the data acquisition module, combined with the mine layout, operation plan, priority of the rubber-tyred trackless vehicle and other factors, to perform task allocation and path planning through intelligent algorithms to ensure that the rubber-tyred trackless vehicle can complete the operation task efficiently and orderly; the statistical analysis module collects, organizes and analyzes the data in the dispatch process, generates dispatch reports and statistical data, and provides data support for optimizing the dispatch strategy and improving the operation efficiency.

[0036] Preferably, the UWB tag 5 adopts the H3C high-precision positioning UWB coal safety and mining positioning terminal; UWB: ultra-wideband wireless communication technology, is a carrier-free communication technology that uses a short energy pulse sequence and expands the pulse to a frequency range through orthogonal frequency division modulation or direct sequencing.

[0037] Preferably, the speed sensor 1 adopts a GSC200 (A) mining speed sensor;

[0038] Preferably, the inertial measurement unit 4 adopts an IVS900 inertial measurement unit.

[0039] The technical solution of this patent is further described in detail below in conjunction with specific implementation methods.

[0040] like Figure 1 As shown, the speed sensor 1 of the data acquisition module is fixed to the chassis 2 of the trackless rubber-tyred vehicle cab by bolt connection, the UWB tag 5 is welded to the roof 6 of the trackless rubber-tyred vehicle by welding, and the inertial measurement unit 4 is fixed to the chassis 3 of the trackless rubber-tyred vehicle by screw connection.

[0041] like Figure 2 As shown, the data acquisition module first relies on the speed sensor 1 installed on the chassis of the cab. The collected data needs to be transmitted to the data acquisition module in real time through a reliable communication interface and transmission protocol. During the operation of the rubber-tyred trackless vehicle, the positioning and tracking device collects data from the UWB tag 5 and the inertial measurement unit 4 in real time, and sends the position information to the dispatch control module through wireless signal transmission technology.

[0042] The dispatch control module receives data from the data acquisition module and the positioning tracking device, processes and analyzes the data, and extracts information useful for dispatch decisions. For example, it performs path planning and dispatching through operating status and positioning information, monitors vehicle speed information to determine whether it is speeding, etc. Based on the received data, the dispatch control module assigns tasks to the rubber-tyred trackless vehicles according to the mine's operation plan and actual needs.

[0043] The dispatch control module will determine the tasks and task order that each rubber-tyred trackless vehicle should perform based on the current location information of the rubber-tyred trackless vehicle, the type of task to be performed, the vehicle dispatch priority and other factors. At the same time, the dispatch control module can also dynamically adjust the task allocation and priority sorting according to emergency tasks or emergencies. After the task allocation is completed, the dispatch control module will perform path planning and optimization. It uses the location information provided by the positioning and tracking device, combined with the layout and traffic rules of the mine, and adopts the Floyd-Warshall dynamic programming algorithm to plan the optimal operation path for each rubber-tyred trackless vehicle.

[0044] like Figure 3 When there is no emergency task, that is, after obtaining daily tasks, the relevant personnel will issue a vehicle application, the dispatching control module will obtain the vehicle application, and approve the vehicle application, automatically schedule according to the vehicle number, and publish the scheduling results, and publish daily vehicle instructions according to the scheduling results. According to the daily vehicle instructions, each mine trackless rubber-wheeled vehicle starts to execute the tasks to be executed. According to the task sequence of the tasks to be executed, each mine trackless rubber-wheeled vehicle will execute the tasks to be executed in turn. When the current task to be executed by the mine trackless rubber-wheeled vehicle is completed, the next task to be executed is executed according to the task sequence. During the task execution process, the vehicle anti-collision prompt is issued and the driving record is obtained until all the tasks to be executed are completed and the vehicle delivery result is obtained. When a vehicle failure occurs in the driving record, the vehicle failure information is published to the dispatching control module to stop the execution of the task.

[0045] When an emergency task occurs, if the intelligent dispatching management system has not yet issued a daily vehicle use instruction, it can issue an emergency task execution order, and the driver completes the vehicle dispatch task according to the emergency task instruction;

[0046] If the system has issued daily vehicle use instructions, it will issue an emergency task execution order to dispatch the nearest driver to handle the emergency vehicle dispatch task alone. The emergency task execution order will set the emergency task to the first place in the task sequence, and at the same time dispatch a vehicle that has not been dispatched to continue to perform the task.

[0047] When the vehicle-using department needs a vehicle, it submits a vehicle application to the artificial intelligence terminal, and the intelligent scheduling and management system dispatches the vehicle in a timely manner based on the vehicle application and location. When this happens, the task corresponding to the vehicle application of the vehicle-using department is set to the first place in the task sequence, and it is given priority and handled urgently.

[0048] When underground workers need a vehicle, they submit an application for underground vehicle use on the artificial intelligence terminal, and the intelligent dispatching management system dispatches a vehicle based on the location of the application. When this happens, the task corresponding to the underground vehicle application is set to the first place in the task sequence, and it is given priority and handled urgently.

[0049] In case of emergencies, the on-board terminal in the vehicle will transmit data to the intelligent dispatching management system for human-computer interaction to respond to emergencies.

[0050] By adopting intelligent planning and task allocation algorithms, the present invention can automatically and quickly formulate a reasonable scheduling plan based on factors such as the operating status of the trackless rubber-tyred vehicle, operating requirements, and mine layout. This not only reduces manual intervention and decision-making time, but also improves the accuracy and executability of the scheduling plan, thereby significantly improving the overall efficiency of the scheduling of trackless rubber-tyred vehicles in coal mines. The present invention uses UWB fusion positioning technology to achieve accurate positioning and real-time tracking of trackless rubber-tyred vehicles. Through the intelligent scheduling system of the present invention, the optimal configuration and rational utilization of trackless rubber-tyred vehicle resources can be achieved. At the same time, the system can also perform statistical analysis on the operating conditions of trackless rubber-tyred vehicles based on historical data and real-time information, provide strong data support for decision makers, and help optimize the transportation organization and production plan of the mine. The intelligent scheduling system of the present invention not only improves the scheduling efficiency and operation safety, but also improves the management level of coal mines.

[0051] The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A dispatching system for trackless rubber-tyred vehicles for mining, characterized in that: include: A data acquisition module, a positioning and tracking module, a dispatching and control module, and a statistical analysis module; the data acquisition module and the positioning and tracking module are respectively connected to the dispatching and control module, and the dispatching and control module is connected to the statistical analysis module; The operation status information of the mine trackless rubber-tyred vehicle is obtained through the data acquisition module, the position information of the mine trackless rubber-tyred vehicle is obtained through the positioning and tracking module, the task allocation, path planning and optimization of the mine trackless rubber-tyred vehicle are performed according to the operation status information and the position information through the scheduling control module, and scheduling information is generated. The scheduling information is statistically analyzed through the scheduling control module, and the scheduling information is statistically analyzed through the statistical analysis module to generate a scheduling report and statistical data.

2. The system according to claim 1, characterized in that The data acquisition module comprises a speed sensor, wherein the speed sensor is arranged on the cab chassis of the mining trackless rubber-tyred vehicle.

3. The system according to claim 1, characterized in that The positioning and tracking module includes a UWB tag and an inertial measurement unit, and the information collected by the UWB tag and the inertial measurement unit is jointly positioned to obtain position information, wherein the UWB tag is arranged on the roof of the trackless rubber-tyred vehicle, and the inertial measurement unit is arranged on the chassis of the trackless rubber-tyred vehicle.

4. The system according to claim 1, characterized in that The dispatching control module obtains daily tasks, task types and dispatching priorities of trackless rubber-tyred vehicles for mining in real time, and allocates daily tasks to trackless rubber-tyred vehicles for mining based on location information, task types and dispatching priorities, and obtains tasks to be performed and the order of tasks of trackless rubber-tyred vehicles for mining, and plans and optimizes the paths of trackless rubber-tyred vehicles for mining according to the tasks to be performed and the order of tasks, in combination with the location information of the trackless rubber-tyred vehicles and the layout and traffic rules of the mine, to obtain the optimal operation path of each trackless rubber-tyred vehicle for mining, i.e., dispatching information.

5. The system according to claim 4, characterized in that In the scheduling control module, after obtaining the tasks to be performed and the task sequence, it also includes obtaining a vehicle application, approving the vehicle application, automatically scheduling according to the vehicle number, and publishing the scheduling results, issuing daily vehicle use instructions according to the scheduling results, and each mining trackless rubber-wheeled vehicle starts to execute the tasks to be executed according to the daily vehicle use instructions. According to the task sequence of the tasks to be executed, each mining trackless rubber-wheeled vehicle executes the tasks to be executed in turn, wherein when the current task to be executed of the mining trackless rubber-wheeled vehicle is completed, the next task to be executed is executed according to the task sequence, and during the task execution process, the vehicle anti-collision prompt is issued and the driving record is obtained until all the tasks to be executed are completed and the vehicle delivery result is obtained.

6. The system according to claim 5, characterized in that In the dispatching control module, when an emergency task or an unexpected situation occurs, the emergency task is acquired, and the execution of the task and the task sequence of the mining trackless rubber-tyred vehicle are dynamically adjusted according to the emergency task.

7. The system according to claim 6, characterized in that In the dispatching control module, when an emergency task or an emergency occurs, when the scheduling result has not been released, an emergency task execution instruction is directly generated and issued, and the mining trackless rubber-tyred vehicle is dispatched to execute the emergency task. When the scheduling result has been released, an emergency task execution instruction is generated and issued, and the corresponding mining trackless rubber-tyred vehicle is dispatched to handle the emergency vehicle dispatch task alone.

8. The system according to claim 1, characterized in that In the dispatching control module, a vehicle application of a vehicle-using department is obtained, and according to the vehicle application of the vehicle-using department and the position information of the trackless rubber-tyred mining vehicle, the trackless rubber-tyred mining vehicle is dispatched to the position corresponding to the vehicle application of the vehicle-using department; an application for underground operation vehicle is obtained, and according to the position information of the trackless rubber-tyred mining vehicle, one or several trackless rubber-tyred mining vehicles closest to the mine are dispatched to the position corresponding to the underground operation vehicle application, and at the same time, the dispatched trackless rubber-tyred mining vehicle interacts with the dispatching control module.

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