Method for uploading operation data of vehicle end in strip mine area

Abstract

The invention relates to the technical field of data transmission, and discloses a strip mine area vehicle end operation data uploading method, which comprises the following steps that: a mobile base station and a memory are arranged on an excavator, a vehicle end communication module is arranged on an unmanned transport vehicle, and the mobile base station on the excavator in a group is matched with the communication module on the unmanned transport vehicle in the group; when the vehicle enters the loading area, communication signals of the corresponding marshalling are automatically searched, and connection is established; when the vehicle arrives at a loading position and carries out a loading task, the vehicle uploads operation log data of the vehicle through a communication network formed by the vehicle end communication module and the mobile base station and stores the operation log data in a memory on the excavator; when the loading task is completed, the excavator sends a driving-away instruction to the vehicle, and the vehicle drives away from the loading area after receiving the driving-away instruction; and transmitting the operation log data stored in the memory on the excavator in each group to a data storage server. According to the uploading method, the data uploading efficiency is greatly improved through an automatic intelligent means.

Description

Technical Field

[0001] The invention relates to a method for uploading vehicle-side operation data in an open-pit mine. Background Art

[0002] Earthwork transportation in open-pit mines is an excellent scenario for the implementation of unmanned driving technology projects, because the production sites in open-pit mines are mostly located in remote areas with poor material living conditions. The cost of recruiting workers and improving living infrastructure is getting higher and higher. In addition, there are many heavy machinery on the production site, and the site conditions are harsh and can easily lead to personal safety accidents. In addition, due to the relatively closed and strictly controlled nature of the mining area, there is an extreme lack of field data for unmanned driving related technology research, and it is difficult to find open source data as rich as urban traffic roads.

[0003] The cost of sending personnel to the site to record data is also relatively high and may affect normal production and operation activities, causing unnecessary safety risks. Therefore, it is extremely important to upload various perception, control and communication data accumulated during the daily operation of on-site vehicles. If the data accumulated by manned or unmanned transport vehicles can be successfully extracted, it can not only provide basic material samples for the research of unmanned driving technology in mining scenarios, but also provide corresponding data backtracking verification for various risks, accidents, failures and other emergencies, thereby improving the efficiency of the entire operation system and reducing the probability of subsequent accident risks.

[0004] The need for data upload is very important. At the same time, the amount of data required for the development and archiving of unmanned driving in mines is huge: the sensor data generated by multiple lidars, cameras, and positioning devices and the status log data circulating within the system can reach tens of GB per day. Even with data compression, it is difficult to reduce it to a few GB. Therefore, how to aggregate the data of each vehicle and upload it to the cloud server for archiving has become a more complex challenge.

[0005] Directly and densely deploying communication base stations is the simplest and most direct method, but the terrain of the mining area is complex and the area is large. The comprehensive requirements of complete signal coverage, high data transmission bandwidth, and controllable construction and maintenance costs cannot be achieved only through base stations. In addition, due to the characteristics of open-pit mine soil and rock and mineral stripping operations that lead to the advancement and movement of the working face, the transportation operation site and roads will also move frequently, and the migration cost of fixed communication base stations deployed along the road is also high. At the same time, the operating production vehicles are always in the process of operation. The vehicles must maintain low-latency real-time communication with the cloud platform and other vehicle-side nodes. The data upload function may interfere with the communication efficiency of the vehicle and cause safety risks. Summary of the invention

[0006] The purpose of the present disclosure is to solve at least one aspect of the above-mentioned problems and defects in the prior art.

[0007] According to one aspect of the present disclosure, a method for uploading vehicle-side operation data of an open-pit mine is provided, comprising:

[0008] S1: Install a mobile base station and a storage device on the excavator, and install a vehicle-side communication module on the unmanned transport vehicle, wherein the mobile base station on the excavator in the group matches the communication module on the unmanned transport vehicle in the group;

[0009] S2: When the unmanned transport vehicle enters the loading area, it automatically searches for the communication signal of the corresponding group and establishes a connection;

[0010] S3: When the unmanned transport vehicle arrives at the loading position and performs the loading task, the unmanned transport vehicle uploads its own operation log data through the communication network formed by the vehicle-side communication module and the mobile base station and stores it in the memory on the excavator;

[0011] S4: When the loading task is completed, the excavator sends a departure instruction to the unmanned transport vehicle, and the unmanned transport vehicle leaves the loading area after receiving the departure instruction;

[0012] S5: The operation log data stored in the memory on the excavator in each group is transmitted to the data storage server.

[0013] According to some exemplary embodiments of the present disclosure, after the unmanned transport vehicle enters the loading position, the working mode of the unmanned transport vehicle is switched to a data upload mode. In the data upload mode, the operation log data recording function is paused, and the recorded data is packaged and then uploaded and stored in the memory.

[0014] According to some exemplary embodiments of the present disclosure, when the unmanned transport vehicle receives the departure instruction, the working mode of the unmanned transport vehicle is switched to a normal working mode. In the normal working mode, the unmanned transport vehicle enters normal working mode and starts the operation log data recording function with the current time as a mark.

[0015] According to some exemplary embodiments of the present disclosure, when the unmanned transport vehicle receives a departure instruction, if the data upload task is not successfully completed, the upload task is forcibly terminated, and the data packet is retained and waits for the next upload opportunity.

[0016] According to some exemplary embodiments of the present disclosure, after the data packet is uploaded to the memory, the operation log data that has been locally uploaded by the unmanned transport vehicle is cleared.

[0017] According to some exemplary embodiments of the present disclosure, when the unmanned transport vehicle completes the unloading task and drives back to the parking lot in sequence, the operation log data recording function is stopped, and the recorded data is packaged to wait for the next upload opportunity of the operation.

[0018] According to some exemplary embodiments of the present disclosure, when the excavator stops working, the operation log data stored in the memory on the excavator is transmitted to the data storage server. The script on the data storage server automatically searches for the log files in the hard disk and copies them to the local hard disk of the server. After the copying is completed, the operation log data stored in the memory is automatically deleted.

[0019] According to some exemplary embodiments of the present disclosure, the operation log data includes the operating status, sensor data and abnormal alarm information of the unmanned transport vehicle.

[0020] According to some exemplary embodiments of the present disclosure, the network transmission rate is above 10 MB / s.

[0021] According to some exemplary embodiments of the present disclosure, the mobile base station is a Wifi router.

[0022] According to some exemplary embodiments of the present disclosure, the memory is a mobile hard disk, and the capacity of the single mobile hard disk is capable of storing data of 48 hours of continuous operation of all unmanned transport vehicles in the corresponding formation.

[0023] According to some exemplary embodiments of the present disclosure, the data storage server is arranged in the cloud.

[0024] According to the method for uploading vehicle-side operation data in open-pit mines of the above-mentioned various exemplary embodiments of the present disclosure, the efficiency of data uploading is greatly improved through automated intelligent means, and a large amount of vehicle operation data is fully and efficiently aggregated from the vehicle-side to the data storage server, providing rich data support for the upgrade and maintenance of the unmanned driving system in smart mines.

[0025] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0027] Figure 1 A schematic diagram of transportation operations in an open pit mine is shown;

[0028] Figure 2 A schematic flow chart of a method for uploading vehicle-side operation data of an open-pit mine area according to an exemplary embodiment disclosed is shown;

[0029] Figure 3 A logic diagram showing a method for uploading vehicle-side operation data of an open-pit mine according to an exemplary embodiment of the present disclosure is shown;

[0030] Figure 4 A detailed flow chart of a method for uploading vehicle-side operation data of an open-pit mine according to an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0031] In order to more clearly explain the purpose, technical solutions and advantages of the present disclosure, the embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. It should be understood that the following description of the embodiments is intended to explain and illustrate the overall concept of the present disclosure and should not be understood as a limitation of the present disclosure. In the specification and the drawings, the same or similar reference numerals refer to the same or similar parts or components. For the sake of clarity, the drawings are not necessarily drawn to scale, and some well-known parts and structures may be omitted in the drawings.

[0032] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. The wording "one" or "an" does not exclude multiple. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right", "top" or "bottom" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. When an element such as a layer, a film, a region or a substrate substrate is referred to as being "on" or "under" another element, the element may be "directly" located "on" or "under" another element, or there may be an intermediate element.

[0033] Earthwork transportation in open-pit mining areas usually takes marshaling as the basic operating unit. Each marshaling consists of an excavator 1 and at least one unmanned transport vehicle 2 (or a manned assisted driving operating vehicle). The specific number of unmanned transport vehicles 2 can usually be adjusted according to the length of the transportation road, the vehicle driving speed and the operating efficiency of the excavator 1, and the idle time of the excavator 1 waiting for the arrival of the unmanned transport vehicle 2 and the idle time of the unmanned transport vehicle 2 waiting in line for the excavator 1 should be minimized.

[0034] Each unmanned transport vehicle 2 is equipped with a vehicle-side domain controller as a computing platform for the unmanned driving software system, which is used to control the vehicle's autonomous movement and record its own operation log data. Each excavator 1 is also equipped with an excavator domain controller as a computing platform for automatic excavation loading and loading process control. The excavator domain controller and the vehicle-side domain controller can be the same model or different models. At least one unmanned transport vehicle 2 and one excavator 1 form a group.

[0035] In the open-pit mine area, apart from the parking lot, maintenance area and other production support areas, the basic working places of the operation group are divided into three parts: loading area, main road and unloading area. Figure 1 As shown, the loading area and the unloading area are open areas with a length and width of tens of meters, connected by a main road several kilometers long. The basic steps of a single cycle operation process are: the unmanned transport vehicle 2 drives to the vicinity of the excavator 1 in the loading area; the excavator 1 strips the earth and rocks and loads them into the bucket of the unmanned transport vehicle 2; after the bucket is filled with earth, the unmanned transport vehicle 2 leaves the loading area; the unmanned transport vehicle 2 drives to the unloading area through the main road; the unmanned transport vehicle 2 dumps the carried earth into the backfill pit in the unloading area; after the unmanned transport vehicle 2 has finished dumping the earth, it leaves the unloading area and returns to the loading area through the main road to continue loading or be recycled. In this process step, earth loading is a time-consuming process. According to the field observation of the excavator 1 operation, a 90-ton wide-body unmanned transport vehicle 2 needs 7-9 buckets to be filled with earth, and each shovel of filling takes about 30 seconds. During this process, the unmanned transport vehicle 2 hands over the control to the excavator 1 and stays still waiting for the excavator 1 to load the materials. After the excavator 1 is fully loaded, it sends a departure command to the unmanned transport vehicle 2, and the unmanned transport vehicle 2 will switch to the normal working state to continue the subsequent operation process. The unmanned transport vehicle 2 stays near the excavator 1 in the loading area for about 4 minutes, and this time period can be used to perform special tasks independent of the loading task.

[0036] like Figures 2 to 4 As shown, according to an embodiment of the present disclosure, a method for uploading vehicle-side operation data of an open-pit mine is provided, the method comprising:

[0037] S1: Install a mobile base station and a memory 3 on the excavator 1, and install a vehicle-side communication module on the unmanned transport vehicle 2, wherein the mobile base station on the excavator 1 in the group matches the communication module on the unmanned transport vehicle 2 in the group;

[0038] S2: When the unmanned transport vehicle 2 enters the loading area, it automatically searches for the communication signal of the corresponding group and establishes a connection;

[0039] S3: When the unmanned transport vehicle 2 arrives at the loading position and performs the loading task, the unmanned transport vehicle 2 uploads its own operation log data through the communication network formed by the vehicle-side communication module and the mobile base station and stores it in the memory 3 on the excavator 1;

[0040] S4: When the loading task is completed, the excavator 1 sends a departure instruction to the unmanned transport vehicle 2, and the unmanned transport vehicle 2 leaves the loading area after receiving the departure instruction;

[0041] S5: The operation log data stored in the memory 3 on the excavator 1 in each group is transmitted to the data storage server 4 .

[0042] Specifically, when the excavator 1 is started, the mobile base station can be started synchronously, and the data backup function can be activated. Then the unmanned transport vehicle 2 is started, and the operation task is started after the unmanned driving mode is initialized, and the operation log data recording function is turned on synchronously. The unmanned transport vehicle 2 autonomously plans the route and drives through the main road to the waiting point in the loading area to queue up, waiting for the excavator 1 to issue an entry instruction. When the vehicle receives the entry instruction from the excavator 1, it enters the loading position to wait for soil to be loaded. During the entry process, the vehicle-side communication module automatically searches for the communication signal of the mobile base station on the excavator 1 and connects. When the unmanned transport vehicle 2 is parked in the loading position next to the excavator 1, the communication signal strength reaches the peak value, the excavator 1 starts to load soil and rocks to the vehicle to be loaded, and the excavator domain controller on the excavator starts to receive the data uploaded by the unmanned transport vehicle 2 synchronously and stores it in the memory 3. After the excavator 1 completes the loading task, it sends a departure instruction to the unmanned transport vehicle 2. When the unmanned transport vehicle 2 receives the departure instruction, it activates the unmanned driving function to start a new round of operations. The unmanned transport vehicle 2 drives from the loading area to the waiting point in the unloading area through the main road. The unmanned transport vehicle 2 enters the unloading area in the queue order, stops at the soil discharge point and performs soil discharge operations. When the soil discharge operation is completed, the unmanned transport vehicle 2 leaves the unloading area and then drives to the loading area via the main road to perform the next loading task and uploading task.

[0043] This disclosure designs an upload method that uses the vehicle loading time period to upload data through an overall analysis and practical calculation of the earthwork stripping and transportation operation process in the open-pit mine. The upload method uses the marshaling as a unit, and the vehicle-side operation log data of each unmanned transport vehicle 2 in the marshaling is collected to the storage 3 through the mobile base station on the excavator 1; the vehicle-side operation data of multiple marshalings are then transferred and collected to a unified data storage server 4 through their respective storages 3 for archiving, which greatly improves the data upload efficiency and realizes the complete and efficient collection of a large amount of vehicle operation data from the vehicle side to the data storage server 4, providing rich data support for the upgrade and maintenance of the unmanned driving system under the smart mine.

[0044] In this embodiment, the memory 3 uses a mobile hard disk, and the data backup function can be automatically activated when the mobile hard disk is inserted into the excavator domain controller on the excavator. In this embodiment, in the entire operation process, only the mobile hard disk transfer operation during the shift change of each group requires manual intervention, and most of the other tasks are automatically executed by software scripts, which greatly reduces manual work and promotes the overall goal of unmanned intelligentization of smart mines. It should be noted that in some other embodiments of the present disclosure, the memory 3 can be other types of computer-readable storage media, which can be any tangible medium containing or storing programs, and the program code contained in the computer-readable storage medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above. It should be noted that a single memory 3 can preferably store at least 48 hours of continuous operation data of all unmanned transport vehicles in the corresponding group. In practical applications, multiple memories 3 can be provided, and the multiple memories 3 can be matched with a single excavator 1 for rotation. That is, when one memory 3 stores data on the excavator 1, another memory 3 can, for example, transmit the stored data to the data storage server 4 in the dispatch center.

[0045] In this embodiment, the mobile base station uses a Wifi router, and the mobile base station is matched with a vehicle-side Wifi communication module. The Wifi router on the excavator 1 and the matching vehicle-side Wifi communication module form a Wifi network, and the unmanned transport vehicle 2 uploads its own operation log data through the Wifi network and stores it in the memory 3 on the excavator 1. It should be noted that in some other embodiments of the present disclosure, the Wifi network can also be replaced by other networks known to those skilled in the art. In addition, in this embodiment, the data storage server 4 is set in the cloud, but it should be noted that it may not be set in the cloud.

[0046] According to an exemplary embodiment of the present disclosure, the uploading method may further include: after the unmanned transport vehicle 2 enters the loading position, the working mode of the unmanned transport vehicle 2 is switched to the data uploading mode, in which the operation log data recording function is suspended, and the recorded data is packaged, and then the data packet is uploaded and stored in the memory 3, wherein the name of the data packet should be marked with the vehicle code of the corresponding unmanned vehicle. By suspending the operation log data recording function of the unmanned transport vehicle 2 at the loading position, the computing load of the vehicle-side domain controller can be reduced.

[0047] According to an exemplary embodiment of the present disclosure, the method may also include: when the unmanned transport vehicle 2 receives a departure instruction, switching the working mode of the unmanned transport vehicle 2 to a normal working mode, in which the unmanned transport vehicle 2 enters a normal working state and starts an operation log data recording function with the current time as a mark.

[0048] According to an exemplary embodiment of the present disclosure, the method may further include: when the unmanned transport vehicle 2 receives a departure instruction, if the data upload task is not successfully completed, the upload task is forcibly terminated, and the data packet is retained to wait for the next upload opportunity.

[0049] According to an exemplary embodiment of the present disclosure, the method may further include: after the data packet is uploaded and stored in the memory 3 on the excavator 1 , clearing the operation log data that has been locally uploaded by the unmanned transport vehicle 2 .

[0050] According to an exemplary embodiment of the present disclosure, the method may further include: when the vehicle completes the unloading task and returns to the parking lot, stopping the operation log data recording function and packaging the recorded data to wait for the next upload opportunity. At this time, the unmanned driving system can be turned off and the Wifi is offline.

[0051] According to an exemplary embodiment of the present disclosure, the method may further include: when the excavator 1 stops working, uploading the data stored in the memory 3 to the data storage server 4, the script on the server automatically searches for the log file in the memory 3 and copies it to the local hard disk of the server, and automatically deletes the record on the memory 3 after the copying is completed. At this point, the overall process of uploading and backing up the operation data for the day is completed. If there is a situation where the engineering equipment is operated in shifts by a single group, the number of memories 3 also needs to be increased according to the number of shifts, and each group corresponds to one memory 3 for each shift.

[0052] According to an exemplary embodiment of the present disclosure, the operation log data may include the operating status, sensor data and abnormal alarm information of the unmanned transport vehicle 2.

[0053] According to an exemplary embodiment of the present disclosure, the method may further include: the mobile base station places the vehicle code marked on the data packet name into a folder with a corresponding number name, and the data storage physical address is a memory 3 connected to the domain controller of the excavator 1.

[0054] According to an exemplary embodiment of the present disclosure, the method further includes: the network transmission rate is above 10MB / s. In the application, the data packet of the log stored in the disk generated by a single process varies from about 400MB to 800MB depending on the task execution time. At an intranet transmission rate of above 10MB / s, it is sufficient to complete the data upload task within 90 seconds. In other words, the data packet generated by a single process can be uploaded to the memory 3 during the vehicle loading time period of the unmanned transport vehicle.

[0055] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0056] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0057] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for uploading vehicle-side operation data in an open-pit mine area, comprising: S1: Install a mobile base station and a storage device on the excavator, and install a vehicle-side communication module on the unmanned transport vehicle, wherein the mobile base station on the excavator in the group matches the communication module on the unmanned transport vehicle in the group; S2: When the unmanned transport vehicle enters the loading area, it automatically searches for the communication signal of the corresponding group and establishes a connection; S3: When the unmanned transport vehicle arrives at the loading position and performs the loading task, the unmanned transport vehicle uploads its own operation log data through the communication network formed by the vehicle-side communication module and the mobile base station and stores it in the memory on the excavator; S4: When the loading task is completed, the excavator sends a departure instruction to the unmanned transport vehicle, and the unmanned transport vehicle leaves the loading area after receiving the departure instruction; S5: The operation log data stored in the memory on the excavator in each group is transmitted to the data storage server.

2. The uploading method according to claim 1, wherein: After the unmanned transport vehicle enters the loading position, the working mode of the unmanned transport vehicle is switched to the data upload mode. In the data upload mode, the operation log data recording function is suspended, and the recorded data is packaged, and then the data packets are uploaded and stored in the memory.

3. The uploading method according to claim 1, wherein: When the unmanned transport vehicle receives the departure instruction, the working mode of the unmanned transport vehicle is switched to a normal working mode. In the normal working mode, the unmanned transport vehicle enters normal working mode and starts the operation log data recording function with the current time as a mark.

4. The uploading method according to claim 2, wherein: When the unmanned transport vehicle receives the departure instruction, if the data upload task is not successfully completed, the upload task is forcibly terminated, and the data packet is retained and waits for the next upload opportunity.

5. The uploading method according to claim 2, wherein: After the data packet is uploaded to the storage device, the operation log data uploaded locally by the unmanned transport vehicle is cleared.

6. The uploading method according to claim 1, wherein: When the unmanned transport vehicle completes the unloading task and drives back to the parking lot, the operation log data recording function is stopped, and the recorded data is packaged to wait for the next upload opportunity.

7. The uploading method according to claim 1, wherein: When the excavator stops working, the operation log data stored in the memory on the excavator is transmitted to the data storage server. The script on the data storage server automatically searches for the log files in the hard disk and copies them to the local hard disk of the server. After the copying is completed, the operation log data stored in the memory is automatically deleted.

8. The uploading method according to claim 1, wherein: The operation log data includes the operating status, sensor data and abnormal alarm information of the unmanned transport vehicle.

9. The uploading method according to any one of claims 1 to 8, wherein: The network transmission rate is above 10 MB / s.

10. The method according to any one of claims 1 to 8, wherein: The mobile base station is a Wifi router.

11. The uploading method according to any one of claims 1 to 8, wherein: The memory is a mobile hard disk, and the capacity of a single mobile hard disk can store the data of all unmanned transport vehicles in the corresponding group running continuously for 48 hours.

12. The uploading method according to any one of claims 1 to 8, wherein: The data storage server is arranged in the cloud.

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