Mine truck speed control method and device, storage medium and equipment

Abstract

According to the mine card vehicle speed control method and device, the storage medium and the equipment, the material scattering conditions of a mine card in all time periods are monitored according to the preset interval, whether the material scattering area of the mine card in the current time period reaches the first threshold value or not is judged, and after the material scattering area reaches the first threshold value, the speed of the mine card is controlled. And recording the number of scattering time periods in which the material scattering area is continuously greater than a first threshold value from the current time period, and when the number of the scattering time periods reaches a second threshold value, determining an adjusting speed according to the material scattering area in the time period reaching the second threshold value and the transportation speed of the mine card so as to control the mine card to decelerate, when the scattering area does not reach the first threshold value, the mine card can be continuously controlled according to the pre-planned path, then the scattering condition of the materials loaded by the mine card is monitored in real time, and the adjusting speed is determined according to the scattering area and the transportation speed of the mine card when the materials are scattered, so that the loss of the materials in the transportation process is reduced, and the transportation efficiency is improved. And the stability of material transportation is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of speed control, and in particular to a method, device, storage medium and equipment for controlling the speed of a mining truck. Background Art

[0002] As an important tool in the mining industry, unmanned mining trucks can monitor road conditions, weather conditions and other environmental factors in real time through on-board sensors or image scanning equipment, and perform route planning to ensure the safe transportation of materials such as ore, soil and stone. However, current unmanned mining trucks mainly focus on obstacle avoidance and route planning, and do not care about the transportation status of the materials themselves, resulting in poor reliability of material transportation.

[0003] Based on this, this specification provides a mine truck speed control method, device, storage medium and equipment. Summary of the invention

[0004] This specification provides a mine truck speed control method, device, storage medium and equipment to partially solve the above-mentioned problems existing in the prior art.

[0005] This manual adopts the following technical solutions:

[0006] This specification provides a method for controlling the speed of a mining truck, the method comprising:

[0007] Monitor the material scattering of the mining truck in each time period at preset intervals;

[0008] Determine whether the material scattering area of ​​the mining truck reaches a preset first threshold value in the current time period;

[0009] If so, the number of scattering time periods in which the material scattering area is continuously greater than the first threshold value starting from the current time period is recorded, and when the number of scattering time periods reaches a preset second threshold value, the adjustment speed is determined according to the material scattering area in the time period that reaches the second threshold value and the transportation speed of the mining truck, so as to control the mining truck to decelerate, wherein the adjustment speed is negatively correlated with the scattering area;

[0010] If not, continue to control the mining truck according to the pre-planned path.

[0011] Optionally, determining the adjustment speed according to the material scattering area and the transportation speed of the mining truck during the period when the second threshold is reached specifically includes:

[0012] Determine whether the material scattering area in the time period when the second threshold is reached is less than a preset tolerance area threshold, and the tolerance area threshold is greater than the first threshold;

[0013] If yes, then determining the adjustment speed according to the material scattering area and the transportation speed of the mining truck during the period when the second threshold is reached;

[0014] If not, then in the preset speed grade table, the next grade speed which is smaller than the transport speed of the mining truck is determined as the adjustment speed.

[0015] Optionally, determining the adjustment speed according to the material scattering area and the transportation speed of the mining truck during the period when the second threshold is reached specifically includes:

[0016] Calling the material scattering areas monitored in each time period between the current time period and the time period reaching the second threshold, and determining an average area value of the material scattering areas;

[0017] Determine an average speed value of the mining truck between the current time period and the time period in which the second threshold is reached;

[0018] An adjustment speed is determined according to the average area value and the average speed value.

[0019] Optionally, the mining truck is continued to be controlled according to the pre-planned path, specifically including:

[0020] Determine whether the material scattering area of ​​the mining truck has not reached a preset third threshold value in the current time period, and the third threshold value is less than the first threshold value;

[0021] If so, the number of stable time periods in which the material scattering area is continuously smaller than the third threshold value starting from the current time period is recorded, and when the number of stable time periods reaches the preset fourth threshold value, the previous level speed corresponding to the transportation speed of the mining truck is determined in the preset speed level table as the adjustment speed to control the mining truck to speed up;

[0022] If not, continue to control the mining truck according to the pre-planned path.

[0023] Optionally, after determining the adjustment speed, the method further includes:

[0024] Determining the location information of the mining truck during the time period when the second threshold is reached;

[0025] Determine vehicle speed control information according to the location information and the adjusted speed, and determine other mining trucks associated with the mining truck according to the location information;

[0026] The vehicle speed control information is synchronized to the other mining trucks.

[0027] Optionally, the method further includes:

[0028] Determine whether the material scattering area of ​​the mining truck within the preset range of the wheels of the mining truck reaches a preset fifth threshold value in the current time period;

[0029] If yes, then determine obstacle avoidance warning information according to the location information of the mining card; and synchronize the obstacle avoidance warning information to other mining cards;

[0030] If not, continue to monitor the material scattering of the mining truck in each time period.

[0031] Optionally, the method further includes:

[0032] For each sensor installed on the mining truck, monitoring the contamination degree of the sensor surface;

[0033] When the pollution level is higher than a preset pollution value, the pollutants attached to the surface of the sensor are cleaned at least by ultrasonic vibration and / or heating.

[0034] This specification provides a mine truck speed control device, including:

[0035] The monitoring module is used to monitor the material scattering of the mining truck in each time period according to the preset intervals;

[0036] A judgment module, used to judge whether the material scattering area of ​​the mining truck reaches a preset first threshold value in the current period;

[0037] a first adjustment module, for recording, starting from the current period, the number of scattering periods in which the material scattering area is continuously greater than the first threshold, and when the number of scattering periods reaches a preset second threshold, determining an adjustment speed according to the material scattering area in the period reaching the second threshold and the transport speed of the mining truck, so as to control the mining truck to decelerate, wherein the adjustment speed is negatively correlated with the scattering area;

[0038] The second adjustment module is used for, if not, continuing to control the mining truck according to the pre-planned path.

[0039] The present specification provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, a method for controlling the speed of a mining truck is implemented.

[0040] The present specification provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, a method for controlling the speed of a mining truck is implemented.

[0041] At least one of the above-mentioned technical solutions adopted in this specification can achieve the following beneficial effects: in a mine truck speed control method provided in this specification, the material scattering situation of the mine truck in each time period is monitored at preset intervals, and it is determined whether the material scattering area of ​​the mine truck in the current time period reaches a preset first threshold value, and after reaching the first threshold value, the number of scattering time periods in which the material scattering area continues to be greater than the first threshold value starting from the current time period is recorded, and when the number of scattering time periods reaches a preset second threshold value, the adjustment speed is determined according to the material scattering area in the time period reaching the second threshold value and the transportation speed of the mine truck to control the mine truck to slow down, and the adjustment speed is negatively correlated with the scattering area. When the scattering area does not reach the first threshold value, the mine truck can continue to be controlled according to the pre-planned path.

[0042] It can be seen from the above method that by real-time monitoring of the scattering of materials loaded on the mining truck and, when materials are scattered, determining the adjustment speed based on the scattering area and the transportation speed of the mining truck, the loss of materials during transportation is reduced and the stability of material transportation is ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0044] Figure 1 This is a schematic diagram of a process flow of a mine truck speed control provided in this specification;

[0045] Figure 2 A schematic diagram of a flow chart for determining an adjustment speed provided in this specification;

[0046] Figure 3 A schematic diagram of a flow chart for determining an adjustment speed provided in this specification;

[0047] Figure 4 A schematic diagram of a mine truck speed control device provided in this specification;

[0048] Figure 5 A schematic diagram of the electronic device structure corresponding to a mine truck speed control method provided in this specification. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of this specification more clear, the technical solutions of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0050] In this specification, the process of executing a mine truck speed control method involves data processing and analysis operations, and such operations with high requirements for computing resources are generally performed by a server. Therefore, in the embodiments of this specification, the mine truck speed control process can be performed by a server, wherein the server can be a single device, or composed of multiple devices, such as a distributed server, and this specification does not limit this. Of course, this specification does not limit which device performs the mine truck speed control process, for example, personal computers and mobile terminals and other devices perform vehicle speed control, or in actual production, the mine truck speed control process can also be performed by a vehicle control center (vehicle server) deployed on the mine truck. For the convenience of description, the following description is based on the server as the execution subject.

[0051] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0052] Figure 1 The flowchart of a mine truck speed control method provided in this specification includes the following steps:

[0053] S100: Monitor the material scattering of the mining truck in each time period according to the preset intervals.

[0054] In one or more embodiments of the present specification, in order to adjust the transportation speed of the mining truck in real time based on the material scattering of the materials on the mining truck in subsequent steps, in this step, the server needs to monitor the material scattering of the materials loaded in the mining truck in real time.

[0055] Specifically, when the mining truck transports materials along the pre-planned route, the server can monitor the material scattering of the mining truck in each time period at a preset interval, wherein the preset interval can be set according to actual needs.

[0056] It should be noted that the specific method of obtaining the material scattering situation is not limited in this specification. For example, different types of sensors such as laser radar can be used and installed on the top, side and tail of the carriage, etc., close to the loading area, to comprehensively monitor the material scattering situation. Of course, the installation position and type of the sensor can be set according to actual needs. Since different types of sensors have different advantages, in one or more embodiments of this specification, due to the characteristics of high precision and high resolution, the laser radar is suitable for installation on the top of the carriage to perform a three-dimensional scan of the entire material loading area; due to the good anti-interference performance of the millimeter wave radar, it is suitable for installation on the side wall of the carriage to monitor the material scattering situation on the side; due to the high accuracy of the ultrasonic radar in a short distance and good waterproof and dustproof performance, it is suitable for installation at the tail of the carriage to monitor the material scattering situation at the tail. At the same time, the specific size of the monitoring range when monitoring the material scattering situation is not limited in this specification, and it can be set according to actual needs. For example, the monitoring range can be the range included in the lane width and preset length of the path where the mining truck travels, and the preset length is greater than the length of the mining truck.

[0057] S102: Determine whether the material scattering area of ​​the mining truck reaches a preset first threshold value in the current time period.

[0058] In one or more embodiments of the present specification, in order to determine the adjustment speed based on the material scattering of the mining truck in the subsequent steps and control the mining truck to continue transporting materials, in this step, the server needs to determine whether the material scattering area of ​​the mining truck reaches a preset first threshold during real-time monitoring.

[0059] Specifically, the server may determine whether the material scattering area of ​​the mining truck in the current period reaches a preset first threshold, and if so, execute the subsequent step S104, and if not, execute the subsequent step S106.

[0060] It should be noted that the specific size of the first threshold is not limited in this specification and can be set according to actual needs. The first threshold represents the basic tolerance for material scattering, that is, when it is monitored that the scattering area of ​​the material on the mining truck at the current time reaches the first threshold, step S104 is executed to reduce the loss of the material, and when the scattering area of ​​the material does not reach the first threshold, step S106 is executed.

[0061] S104: If so, record the number of scattering time periods in which the material scattering area is continuously greater than the first threshold value starting from the current time period, and when the number of scattering time periods reaches a preset second threshold value, determine the adjustment speed according to the material scattering area in the time period that reaches the second threshold value and the transport speed of the mining truck to control the mining truck to decelerate, wherein the adjustment speed is negatively correlated with the scattering area.

[0062] In one or more embodiments of the present specification, when the material scattering area in the current time period reaches a first threshold, the server may record the number of scattering time periods in which the material scattering area continues to be greater than the first threshold starting from the current time period, and when the number of scattering time periods reaches a second threshold, the server may determine the adjustment speed based on the material scattering area of ​​the mining truck in the time period that reaches the second threshold and the transportation speed of the mining truck in the time period that reaches the second threshold, and control the mining truck to decelerate with the adjustment speed as the target.

[0063] Specifically, when the material scattering area of ​​the mining truck reaches a preset first threshold, the server can record the number of scattering periods in which the material scattering area is continuously greater than the first threshold, and when the number of scattering periods reaches a preset second threshold, the server can determine the adjustment speed according to the material scattering area of ​​the mining truck when the number of scattering periods reaches the second threshold and the transportation speed of the mining truck when the number of scattering periods reaches the second threshold, and control the mining truck to decelerate with the adjustment speed as the target. The adjustment speed is negatively correlated with the scattering area.

[0064] It should be noted that when a mining truck passes through a small section of bumpy road, materials may scatter, but the material scattering will stop quickly. If the speed is reduced only when the scattering area reaches the first threshold, energy consumption and mechanical wear will increase. Therefore, the number of scattering periods characterizes the time taken for the material scattering area to continue to be greater than the first threshold. Therefore, it is more accurate to evaluate the risk level of material loss from multiple dimensions of the number of scattering periods and the scattering area. The specific size of the second threshold is not limited in this specification and can be set according to actual needs. At the same time, the specific method for determining the adjustment speed is not limited in this specification and can be set according to actual needs. In one or more embodiments of this specification, the sum of the material scattering area of ​​the mining truck when the number of scattering periods reaches the second threshold and the preset tolerance area threshold is determined, and the ratio of the material scattering area to the sum when the number of scattering periods reaches the second threshold is determined. According to the ratio and the current transportation speed of the mining truck, the adjustment speed is determined. When the scattering period reaches the second threshold, the adjustment speed is negatively correlated with the material scattering area, as follows:

[0065]

[0066] Among them, vnew is the determined adjustment speed; vcurrent is the transportation speed of the mining truck, which can be the average transportation speed in the period when the number of scattered time periods reaches the second threshold, or the last transportation speed in the period when the number of scattered time periods reaches the second threshold, which can be set according to actual needs; Sscattered is the material scattering area of ​​the mining truck in the period when the number of scattered time periods reaches the second threshold; n1 is the preset tolerance area threshold, which can be set according to actual needs.

[0067] S106: If not, continue to control the mining truck according to the pre-planned path.

[0068] In one or more embodiments of the present specification, when the material scattering area of ​​the mining truck does not reach the first threshold, the server may continue to control the mining truck according to a pre-planned path.

[0069] Specifically, when the material scattering area of ​​the mining truck does not reach a preset first threshold, the server may continue to control the mining truck according to a pre-planned path.

[0070] It should be noted that the pre-planned path is not limited in this manual, and the specific content of continuing to control the mining truck can be set according to actual needs. For example, the mining truck can be controlled according to the pre-planned speed and path; or the mining truck can be controlled according to the adjusted speed after deceleration without increasing to the pre-planned speed after deceleration; or the mining truck can be controlled according to the preset speed increase ratio and return to the pre-planned speed after deceleration. No more explanation will be given here.

[0071] In the above method, the server can monitor the material scattering of the mining truck in real time at preset intervals, and during the monitoring process, determine whether the material scattering area of ​​the mining truck in the current time period reaches the preset first threshold value. When the material scattering area reaches the preset first threshold value, the number of scattering time periods in which the material scattering area is continuously greater than the first threshold value is recorded, and when the number of scattering time periods reaches the preset second threshold value, the adjustment speed is determined according to the material scattering area of ​​the mining truck in the time period in which the number of scattering time periods reaches the second threshold value and the transportation speed of the mining truck in the time period in which the number of scattering time periods reaches the second threshold value, and the mining truck is controlled to decelerate. When the material scattering area does not reach the preset first threshold value, the mining truck is continued to be controlled according to the pre-planned path. That is, by monitoring the material scattering of the mining truck in real time, and based on the material scattering area and the number of scattering time periods, it is determined whether it is necessary to determine the adjustment speed after deceleration according to the scattering area and the transportation speed of the mining truck, and control the mining truck to decelerate to reduce the loss of materials during transportation, thereby ensuring the stability of material transportation.

[0072] It should be noted that the present specification is not limited to being applicable only to unmanned mining trucks. If used in manually driven mining trucks, the adjusted speed can prompt the driver of the mining truck to slow down through display, voice, etc., so that the driver can control the mining truck to slow down based on the adjusted speed to reduce the loss of materials during transportation.

[0073] In addition, this specification provides a process of obtaining an image of scattered materials of the mining truck in the current period through an image acquisition device installed on the mining truck, and determining the pixel area of ​​the scattered materials, and determining the material scattered area based on the pixel area, the object distance between the scattered materials and the image acquisition device, and the parameters of the image acquisition device, as follows:

[0074] Specifically, the server can call the image acquisition device installed on the mine to obtain the image of the scattered materials of the mine truck in the current time period, and determine the pixel area of ​​the scattered materials in the image. The server can obtain the object distance between the scattered materials and the image acquisition device, and then determine the material scattering area of ​​the mine truck according to the pixel area of ​​the scattered materials, the object distance and the parameters of the image acquisition device. Among them, the acquisition time of the image of the scattered materials of the mine truck in the current time period can be the last moment in the current time period, and the object distance between the scattered materials and the image acquisition device is not limited in this specification. For example, through sensors such as laser radar, it can be set according to actual needs. The parameters of the image acquisition device at least include the lens target surface width of the image acquisition device, the lens focal length of the image acquisition device, and the resolution of the image.

[0075] The process of determining the scattered material area according to the pixel area of ​​the scattered material and the object distance between the scattered material and the image acquisition device is as follows:

[0076]

[0077] Among them, S material is the material scattering area, is the pixel area of ​​the scattered materials in the image, Z is the object distance between the scattered materials and the lens of the image acquisition device, w is the width of the lens target surface of the image acquisition device, f is the focal length of the lens of the image acquisition device, and W is the resolution of the image, such as the image width.

[0078] It should be noted that if the ratio of the lens target surface width to the image width and the ratio of the lens target surface height to the image height are inconsistent, the actual physical length and physical width of the scattered materials can be calculated separately to ensure accuracy. This will not be repeated here, and the above formula can be used for specific reference. At the same time, when the parameters such as the focal length of the lens of the image acquisition device are known, the material scattering area of ​​the mining truck can be calculated according to the pixel area of ​​the scattered material and the object distance between the scattered material and the image acquisition device through the triangle similarity principle. In addition, in actual applications, the images collected by the image acquisition device may have lens distortion. Therefore, the lens distortion correction can be used to ensure the accuracy of the material scattering area. At the same time, the image will be compressed or nonlinearly transformed, which will affect the proportional relationship between the pixel and the actual size. Therefore, the image used to calculate the material scattering area must be the original image that has not been compressed or transformed.

[0079] In addition, this specification provides that when the number of scattered time periods reaches a preset second threshold, the server can determine a speed less than "the transportation speed of the mining truck in the time period where the number of scattered time periods reaches the second threshold" as the adjustment speed. Among them, this specification does not limit the specific method of determining the adjustment speed, which can be set according to actual needs. For example, when the number of scattered time periods reaches the preset second threshold, the server can determine the next level speed corresponding to the transportation speed of the mining truck in the time period where the number of scattered time periods reaches the second threshold in the preset speed level table as the adjustment speed; or when the number of scattered time periods reaches the preset second threshold, the server can use the difference between the transportation speed of the mining truck in the time period where the number of scattered time periods reaches the second threshold and the speed adjustment step length according to the preset speed adjustment step length as the adjustment speed; or when the number of scattered time periods reaches the preset second threshold, the server can use the product of the transportation speed of the mining truck in the time period where the number of scattered time periods reaches the second threshold and the speed adjustment ratio according to the preset speed adjustment ratio as the adjustment speed.

[0080] In addition, this specification provides that the server can determine the adjustment speed according to the material scattering area of ​​the mining truck in the period when the number of scattering time periods reaches the second threshold and the transportation speed of the mining truck in the period when the number of scattering time periods reaches the second threshold, as follows:

[0081] In one or more embodiments of the present specification, first, the server can determine whether the material scattering area of ​​the mining truck in the period when the number of scattering time periods reaches the second threshold is less than the preset tolerance area threshold; if so, the adjustment speed is determined according to the material scattering area of ​​the mining truck in the period when the number of scattering time periods reaches the second threshold and the transportation speed of the mining truck in the period when the number of scattering time periods reaches the second threshold, and the adjustment speed is negatively correlated with the material scattering area; if not, the next level speed corresponding to the transportation speed of the mining truck in the period when the number of scattering time periods reaches the second threshold is determined in the preset speed level table as the adjustment speed. Among them, when the material scattering area of ​​the mining truck in the period when the number of scattering time periods reaches the second threshold is less than the preset tolerance area threshold, the process of determining the adjustment speed is as follows:

[0082]

[0083] Among them, vnew is the determined adjustment speed, vcurrent is the transportation speed of the mining truck, and the details can be referred to the content of S104, which will not be repeated here, Sscatter is the material scattering area of ​​the mining truck in the period when the number of scattering periods reaches the second threshold, m1 is the preset first threshold, and n1 is the preset tolerance area threshold. It is mentioned here that since this formula is inconsistent with the formula type of step S104, the size of the tolerance area threshold needs to be set according to actual needs. Sscatter is greater than m1, n1 is greater than m1, and m1 and n1 can be set according to actual needs.

[0084] It should be noted that the upper level speed in the preset level table is greater than the lower level speed, that is, the next level speed corresponding to the transportation speed of the mining truck in the time period when the number of scattered time periods reaches the second threshold is used as the adjustment speed. The adjustment speed is less than the transportation speed of the mining truck in the time period when the number of scattered time periods reaches the second threshold. Based on the adjustment speed, the mining truck can be controlled to decelerate.

[0085] In addition, in the process of "determining the adjustment speed according to the material scattering area of ​​the mining truck in the time period when the number of scattering time periods reaches the second threshold and the transportation speed of the mining truck in the time period when the number of scattering time periods reaches the second threshold" in step S104, the adjustment speed can be determined by calling the scattering areas of each material monitored in the time period of the scattering time period number and the transportation speeds of the mining truck in the time period of the scattering time period number, as follows:

[0086] In one or more embodiments of the present specification, the server may call up each material scattering area monitored in a number of time periods in which the material scattering area is continuously greater than a first threshold, and determine the average area value of each material scattering area, and call up each transport speed of the mining truck in a number of time periods in which the material scattering area is continuously greater than the first threshold, and determine the average speed value of each transport speed, and determine the adjustment speed based on the average area value and the average speed value.

[0087] It should be noted that the adjustment speed is determined according to the average area value and the average speed value, and the details are referred to in step S104, which will not be described in detail here. In addition, the adjustment speed can also be determined according to the size relationship between the average area value and the tolerance area threshold, and the details are referred to in the above content, which will not be described in detail here. At the same time, the transportation speed of the mining truck in the period when the number of scattered periods reaches the second threshold can be specifically referred to in step S104.

[0088] like Figure 2 As shown, it is a flow chart provided in this specification for determining when the material scattering area reaches a preset first threshold value and the number of scattering time periods reaches a preset second threshold value, according to the relationship between the material scattering area and the tolerance area threshold, to determine the adjustment speed.

[0089] In addition, this specification provides a process of increasing the speed or continuing to control the mining truck according to a pre-planned path based on the relationship between the third threshold and the area of ​​material scattering, as follows:

[0090] In one or more embodiments of the present specification, when the server can monitor the material scattering situation in real time, it is determined whether the material scattering area of ​​the mining truck in the current time period has not reached the preset third threshold value. When the material scattering area does not reach the third threshold value, the number of stable time periods in which the material scattering area is continuously less than the third threshold value is recorded. When the number of stable time periods reaches the preset fourth threshold value, in the preset speed level table, the previous level speed corresponding to the transportation speed of the mining truck in the time period greater than the number of stable time periods reaching the fourth threshold value is determined as the adjustment speed, and the mining truck is controlled to decelerate with the adjustment speed as the target. If the material scattering area reaches the third threshold value and does not reach the second threshold value, the mining truck continues to be controlled according to the pre-planned path. Among them, the third threshold value is less than the first threshold value, and the fourth threshold value can be set according to actual needs.

[0091] like Figure 3 As shown, it is a flow chart of determining the adjustment speed based on the relationship between the material scattered area and the first threshold and the third threshold provided in this specification. In this flow chart, the relationship between the material scattered area and the first threshold is first determined to reduce the speed and ensure the safety of material transportation.

[0092] In addition, this manual provides a vehicle-to-vehicle coordinated speed control process, that is, the server can locate the position of the mining card after determining the adjustment speed, and determine the speed control information based on the located position information and the adjustment speed, and determine other mining cards associated with the mining card based on the located position information, and synchronize the speed control information to other mining cards.

[0093] It should be noted that the method of synchronization to other mining cards is not limited in this specification, and direct communication or indirect communication through a remote server can be used, and can be set according to actual needs. At the same time, the specific method of determining other mining cards associated with the mining card based on the located location information is not limited in this specification, and can be set according to actual needs. For example, based on the located location information, mining cards at other locations close to the located location information can be determined as other mining cards associated with the mining card; or based on the located location information, other mining cards whose paths are planned to pass through the location information are determined as other mining cards associated with the mining card. In other words, other mining cards associated with the mining card need or will need to pass through the "section where the mining card decelerates" in the future. Therefore, sending the vehicle speed control information to the other mining cards can cause the other mining cards to decelerate on the section where the location information of the mining card decelerates.

[0094] In addition, if the material falls within the preset range of the wheel, it will cause safety risks to the subsequent mining truck transportation. Therefore, this manual provides a method for judging whether the material scattering area of ​​the mining truck is greater than the preset fifth threshold within the preset range of the mining truck's wheels, and determining the obstacle avoidance warning information based on the judgment result, and synchronizing it to other mining trucks, as follows:

[0095] In one or more embodiments of this specification, the server can determine the material scattering area of ​​the mining truck within the preset range of the wheels of the mining truck in the current time period, and when the material scattering area of ​​the mining truck in the current time period is greater than the preset fifth threshold, determine the obstacle avoidance warning information including the location information of the mining truck, and synchronize the obstacle avoidance warning information to other mining trucks. It should be noted that the obstacle avoidance warning information can also be synchronized to the cleaning vehicle, or synchronized to the remote server, so that the remote server dispatches the cleaning vehicle to the scattered area for cleaning work. Among them, the location information of the mining truck can be all the locations passed by the mining truck in the current time period, or it can be the time starting in the current time period. It can be set according to actual needs, and this specification does not limit this.

[0096] In the above, in order to ensure the safety of the following mining truck transportation, obstacle avoidance warning information can be issued through vehicle-to-vehicle collaboration, and the existence of scattered materials near the wheels in front of the following mining truck can be prompted so that the subsequent mining trucks can avoid the materials scattered near the wheels in time.

[0097] In addition, this manual provides a process for removing contaminants attached to the sensor through ultrasonic vibration or heating, as follows:

[0098] In one or more embodiments of the present specification, a self-cleaning module is pre-set for the sensor, such as ultrasonic vibration or heating, and then the server can start the self-cleaning module to clean the pollutants attached to the sensor surface when the pollution level of the sensor surface is higher than the preset pollution value. The type of sensor can be specifically referred to the content of the above step S100, which will not be repeated here.

[0099] It should be noted that the specific method of determining the degree of contamination is not limited in this specification. For example, the degree of contamination can be determined by the difference in intensity between the emitted laser and the received returned laser. The greater the difference, the higher the degree of contamination. Alternatively, the degree of contamination on the sensor surface can be indirectly predicted by environmental factors such as weather.

[0100] The above is a mine truck speed control method provided in one or more embodiments of this specification. Based on the same idea, this specification also provides a corresponding mine truck speed control device, such as Figure 4 shown.

[0101] The monitoring module 500 monitors the material scattering of the mining truck in each time period according to the preset intervals;

[0102] The judgment module 501 judges whether the material scattering area of ​​the mining truck reaches a preset first threshold value in the current period;

[0103] The first adjustment module 502, if yes, records the number of scattering time periods in which the material scattering area is continuously greater than the first threshold value starting from the current time period, and when the number of scattering time periods reaches a preset second threshold value, determines an adjustment speed according to the material scattering area in the time period that reaches the second threshold value and the transportation speed of the mining truck, so as to control the mining truck to decelerate, wherein the adjustment speed is negatively correlated with the scattering area;

[0104] If not, the second adjustment module 503 continues to control the mining truck according to the pre-planned path.

[0105] Optionally, the first adjustment module 502 is specifically used to determine whether the material scattering area in the time period reaching the second threshold is less than a preset tolerance area threshold, and the tolerance area threshold is greater than the first threshold; if so, the adjustment speed is determined according to the material scattering area in the time period reaching the second threshold and the transportation speed of the mining truck; if not, the next level speed that is less than the transportation speed of the mining truck is determined in the preset speed level table as the adjustment speed.

[0106] Optionally, the first adjustment module 502 is specifically used to call the material scattering area monitored in each time period between the current time period and the time period reaching the second threshold, and determine the average area value of the material scattering area; determine the average speed value of the mining truck between the current time period and the time period reaching the second threshold; determine the adjustment speed according to the average area value and the average speed value.

[0107] Optionally, the second adjustment module 503 is specifically used to determine whether the material scattering area of ​​the mining truck has not reached a preset third threshold value in the current time period, and the third threshold value is less than the first threshold value; if so, the number of stable time periods in which the material scattering area is continuously less than the third threshold value starting from the current time period is recorded, and when the number of stable time periods reaches a preset fourth threshold value, the previous level speed corresponding to the transportation speed of the mining truck is determined in the preset speed level table as the adjustment speed to control the mining truck to speed up; if not, the mining truck is continued to be controlled according to the pre-planned path.

[0108] Optionally, the device also includes a vehicle-to-vehicle collaboration module 504, which is specifically used to determine the location information of the mining truck in the time period when the second threshold is reached; determine the vehicle speed control information according to the location information and the adjustment speed, and determine other mining trucks associated with the mining truck according to the location information; and synchronize the vehicle speed control information to the other mining trucks.

[0109] Optionally, the vehicle-to-vehicle coordination module 505 is also used to determine whether the material scattering area of ​​the mining truck within the preset range of the wheels of the mining truck reaches a preset fifth threshold value in the current time period; if so, determine the obstacle avoidance warning information according to the position information of the mining truck; and synchronize the obstacle avoidance warning information to other mining trucks; if not, continue to monitor the material scattering situation of the mining truck in each time period.

[0110] Optionally, the device further includes a cleaning module 506, which is specifically used to monitor the contamination level of the sensor surface for each sensor installed on the mining truck; when the contamination level is higher than a preset contamination value, the contaminants attached to the sensor surface are cleaned at least by ultrasonic vibration and / or heating.

[0111] This specification also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 1 A mine truck speed control method is provided.

[0112] This manual also provides Figure 5 The schematic structure diagram of the electronic device shown in FIG. Figure 5 As mentioned above, at the hardware level, the device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 Of course, in addition to the software implementation, this specification does not exclude other implementations, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0113] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to circuit structures such as diodes, transistors, switches, etc.) or software improvements (improvements to method flows). However, with the development of technology, many improvements to method flows today can be regarded as direct improvements to hardware circuit structures. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0114] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules for implementing the method and structures within the hardware component.

[0115] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0116] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0117] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0118] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0119] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0120] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0121] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0122] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0123] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0124] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0125] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0126] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0127] The above description is only an embodiment of the present specification and is not intended to limit the present specification. For those skilled in the art, the present specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification shall be included in the scope of the claims of the present specification.

Claims

1. A method for controlling the speed of a mining truck, characterized in that: include: Monitor the material scattering of the mining truck in each time period at preset intervals; Determine whether the material scattering area of ​​the mining truck reaches a preset first threshold value in the current time period; If so, the number of scattering time periods in which the material scattering area is continuously greater than the first threshold value starting from the current time period is recorded, and when the number of scattering time periods reaches a preset second threshold value, the adjustment speed is determined according to the material scattering area in the time period that reaches the second threshold value and the transportation speed of the mining truck, so as to control the mining truck to decelerate, wherein the adjustment speed is negatively correlated with the scattering area; If not, continue to control the mining truck according to the pre-planned path.

2. The method according to claim 1, characterized in that: Determining the adjustment speed according to the material scattering area and the transportation speed of the mining truck during the period when the second threshold is reached, specifically includes: Determine whether the material scattering area in the time period when the second threshold is reached is less than a preset tolerance area threshold, and the tolerance area threshold is greater than the first threshold; If yes, then determining the adjustment speed according to the material scattering area and the transportation speed of the mining truck during the period when the second threshold is reached; If not, then in the preset speed grade table, the next grade speed which is smaller than the transport speed of the mining truck is determined as the adjustment speed.

3. The method according to claim 1, characterized in that: Determining the adjustment speed according to the material scattering area and the transportation speed of the mining truck during the period when the second threshold is reached, specifically includes: Calling the material scattering areas monitored in each time period between the current time period and the time period reaching the second threshold, and determining an average area value of the material scattering areas; Determine an average speed value of the mining truck between the current time period and the time period in which the second threshold is reached; An adjustment speed is determined according to the average area value and the average speed value.

4. The method according to claim 1, characterized in that: Then, the mining truck is controlled according to the pre-planned path, specifically including: Determine whether the material scattering area of ​​the mining truck has not reached a preset third threshold value in the current time period, and the third threshold value is less than the first threshold value; If so, the number of stable time periods in which the material scattering area is continuously smaller than the third threshold value starting from the current time period is recorded, and when the number of stable time periods reaches the preset fourth threshold value, the previous level speed corresponding to the transportation speed of the mining truck is determined in the preset speed level table as the adjustment speed to control the mining truck to speed up; If not, continue to control the mining truck according to the pre-planned path.

5. The method according to claim 1, characterized in that: After determining the adjustment speed, the method further includes: Determining the location information of the mining truck during the time period when the second threshold is reached; Determine vehicle speed control information according to the location information and the adjusted speed, and determine other mining trucks associated with the mining truck according to the location information; The vehicle speed control information is synchronized to the other mining trucks.

6. The method according to claim 1, characterized in that: The method further comprises: Determine whether the material scattering area of ​​the mining truck within the preset range of the wheels of the mining truck reaches a preset fifth threshold value in the current time period; If yes, then determine obstacle avoidance warning information according to the location information of the mining card; and synchronize the obstacle avoidance warning information to other mining cards; If not, continue to monitor the material scattering of the mining truck in each time period.

7. The method according to claim 1, characterized in that: The method further comprises: For each sensor installed on the mining truck, monitoring the contamination degree of the sensor surface; When the pollution level is higher than a preset pollution value, the pollutants attached to the surface of the sensor are cleaned at least by ultrasonic vibration and / or heating.

8. The method according to claim 1, characterized in that: The method further comprises: By using the image acquisition device installed on the mining truck, an image of the scattered materials in the current period is acquired, and the pixel area of ​​the scattered materials is determined; Acquiring an object distance between the scattered material and the image acquisition device; The material scattering area of ​​the mining truck is determined according to the pixel area, the object distance and the parameters of the image acquisition device.

9. A speed control device based on a mining truck, characterized in that: include: The monitoring module is used to monitor the material scattering of the mining truck in each time period according to the preset intervals; A judgment module, used to judge whether the material scattering area of ​​the mining truck reaches a preset first threshold value in the current period; a first adjustment module, for recording, starting from the current period, the number of scattering periods in which the material scattering area is continuously greater than the first threshold, and when the number of scattering periods reaches a preset second threshold, determining an adjustment speed according to the material scattering area in the period reaching the second threshold and the transport speed of the mining truck, so as to control the mining truck to decelerate, wherein the adjustment speed is negatively correlated with the scattering area; The second adjustment module is used for, if not, continuing to control the mining truck according to the pre-planned path.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

11. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the method according to any one of claims 1 to 8 is implemented when the processor executes the program.

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