Feeding control method and system of unmanned mining truck

Abstract

The invention provides a feeding control method and system for an unmanned mining truck, and the method comprises the steps: based on a mining area master controller, the mining area master controller is in signal connection with all unmanned mine cards and feeding equipment in a mining area, and stores the ID numbers of all unmanned mine cards and feeding equipment; the control method comprises the following steps: receiving a loading completion signal sent by an unmanned mine card, wherein the loading completion signal comprises an unmanned mine card ID number; according to the ID number of the unmanned mine card, a loading stop signal is sent to a terminal corresponding to the ID number of the matched loading equipment; receiving a feedback signal which indicates that loading is stopped and is sent by a terminal corresponding to the ID number of the loading equipment; and the received feedback signal is sent to the unmanned mine card, so that the unmanned mine card starts transportation after receiving the feedback signal. According to the control method provided by the invention, efficient cooperation between the feeding equipment and the unmanned mine card can be realized, and the operation efficiency is improved.

Description

Technical Field

[0001] The present disclosure generally relates to the technical field of unmanned mining trucks, and in particular to a material loading control method and a control system for an unmanned mining truck. Background Art

[0002] In the modern mining process, the automation and unmanned driving technology of mining trucks have become the key factors to improve the efficiency of mining operations and reduce costs. In the mining area, excavators, as a major mining equipment, are responsible for providing loading services for mining trucks. However, in the traditional operation mode, excavator operators often need to cooperate with unmanned mining trucks manually, that is, complete the loading process through manual scheduling and control.

[0003] The above operation mode limits the improvement of operation efficiency and increases labor costs and safety risks. Therefore, in order to solve this technical problem, it is urgent to develop a feeding control method that can achieve efficient coordination between excavators and unmanned mining trucks. Summary of the invention

[0004] In view of the above defects or deficiencies in the prior art, it is desirable to provide a material loading control method and a control system for an unmanned mining truck to solve the above problems.

[0005] The first aspect of the present application provides a feeding control method for an unmanned mining truck, based on a mine area master controller, the mine area master controller is connected to signals of each unmanned mining truck and feeding equipment in the mine area, and stores the ID number of each unmanned mining truck and feeding equipment, the control method comprises: Receiving a loading completion signal sent by the unmanned mining truck, wherein the loading completion signal includes the ID number of the unmanned mining truck; According to the ID number of the unmanned mining card, a stop loading signal is sent to the terminal corresponding to the ID number of the loading equipment matched with it; Receiving a feedback signal indicating that loading has stopped, sent by a terminal corresponding to the ID number of the feeding device; The received feedback signal is sent to the unmanned mining truck, so that the unmanned mining truck starts transportation after receiving the feedback signal.

[0006] According to the technical solution provided in the embodiment of the present application, the loading completion signal is generated by the unmanned mining truck, and the unmanned mining truck generates the loading completion signal including: The weight of the ore in the carriage of the unmanned mining truck is obtained in real time to obtain a real-time load value; The real-time load value is compared with a preset load threshold value, and when it is determined that the real-time load value is greater than or equal to the preset load threshold value, the loading completion signal is generated.

[0007] According to the technical solution provided in the embodiment of the present application, before receiving the loading completion signal sent by the unmanned mining truck, the method further includes: Receiving a near-full-load signal sent by the unmanned mining truck, wherein the near-full-load signal includes the ID number of the unmanned mining truck; According to the ID number of the unmanned mining card, the near full load signal is sent to the terminal corresponding to the ID number of the loading equipment that cooperates with it, and the near full load signal is used to instruct the loading equipment to load slowly.

[0008] According to the technical solution provided in the embodiment of the present application, the near full load signal is generated by the unmanned mining truck, and the unmanned mining truck generates the near full load signal including: Calculating the ratio of the real-time load value to the preset load threshold to obtain a real-time specific weight value; The real-time specific gravity value is compared with a preset specific gravity threshold value, and when it is determined that the real-time specific gravity value is greater than or equal to the preset specific gravity threshold value, the near full load signal is generated.

[0009] According to the technical solution provided in the embodiment of the present application, the unmanned mining truck generates the loading completion signal, further comprising: Acquire the height of the ore in the carriage of the unmanned mining truck in real time to obtain a real-time height value; The real-time height value is compared with a preset height threshold, and when it is determined that the real-time height value is greater than or equal to the preset height threshold, the loading completion signal is generated.

[0010] According to the technical solution provided in the embodiment of the present application, after sending the received feedback signal to the unmanned mining truck, before the unmanned mining truck starts transportation after receiving the feedback signal, it also includes: Acquire a distribution image of the mineral material in the carriage of the unmanned mining truck, and obtain the flatness information of the top surface of the mineral material in the carriage according to the distribution image, wherein the flatness information is used to indicate adjustment of the mineral material in the carriage; The flatness information is sent to the unmanned mining truck.

[0011] According to the technical solution provided in the embodiment of the present application, the step of obtaining a distribution image of the mineral material in the carriage of the unmanned mining truck and obtaining the flatness information of the top surface of the mineral material in the carriage according to the distribution image includes: Acquire a top surface image of the mineral material in the carriage of the unmanned mining truck at at least one angle, wherein the top surface image is included in the distribution image; Obtain at least one distribution profile curve according to at least one of the top surface images; Divide the carriage of the unmanned mining truck into at least three loading areas according to at least one of the distribution profile curves, and calculate the average height of the ore in each of the loading areas; The flatness information of the mineral material in the carriage is generated according to the average heights corresponding to at least three loading areas.

[0012] According to the technical solution provided in the embodiment of the present application, after sending the flatness information to the unmanned mining truck, the method further includes: Receiving a reply signal sent by the unmanned mining truck in response to the flatness information, wherein the reply signal is used to instruct the height of the ore in the carriage to be adjusted by the feeding equipment; According to the ID number of the unmanned mining card, a reply signal is sent to the terminal corresponding to the ID number of the loading equipment that cooperates with it.

[0013] According to the technical solution provided in the embodiment of the present application, the flatness information includes the height of the mineral material in different loading areas.

[0014] A second aspect of the present application provides a feeding control system for an unmanned mining truck, which is applied to the feeding control method for the unmanned mining truck as described above, comprising: A first receiving module, the first receiving module is configured to receive a loading completion signal sent by the unmanned mining truck, wherein the loading completion signal includes an ID number of the unmanned mining truck; A first sending module, the first sending module is configured to send a stop loading signal to a terminal corresponding to the ID number of a loading device matched therewith according to the ID number of the unmanned mining truck; A second receiving module, the second receiving module is configured to receive a feedback signal of stopping loading sent by a terminal corresponding to the ID number of the feeding equipment; The second sending module is configured to send the received feedback signal to the unmanned mining truck, so that the unmanned mining truck starts transportation after receiving the feedback signal.

[0015] Compared with the prior art, the beneficial effect of the present application lies in: by connecting the mine area master controller with the unmanned mining truck and the loading equipment through signals, and storing the ID numbers of the unmanned mining truck and the loading equipment, after the unmanned mining truck is loaded, the mine area master controller can control the loading equipment to stop loading, and the signal of the loading equipment stopping loading can be used to control the unmanned mining truck to start transportation, thereby achieving efficient coordination and cooperation between the loading equipment and the unmanned mining truck, without the need for manual scheduling and control, saving labor costs and safety risks while improving operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 A flow chart of the steps of the material loading control method of the unmanned mining truck provided in Example 1; Figure 2 This is a schematic diagram of the structure of the feeding control system of the unmanned mining truck provided in Example 2.

[0017] Reference numerals: 100, first receiving module; 200, first sending module; 300, second receiving module; 400, second sending module. DETAILED DESCRIPTION

[0018] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0019] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0020] Example 1 Please refer to Figure 1 This embodiment provides a feeding control method for an unmanned mining truck. The method is based on a mine area master controller. The mine area master controller is connected to signals of each unmanned mining truck and feeding equipment in the mine area, and stores the ID number of each unmanned mining truck and feeding equipment.

[0021] Specifically, there will be multiple unmanned mining trucks, i.e., unmanned mining trucks, in a mining area. Each unmanned mining truck has a unique unmanned mining truck ID number. Each unmanned mining truck is equipped with a control module, which exchanges signals with the mining area master controller through the control module. There will also be multiple feeding equipment in a mining area, each feeding equipment also has its own unique feeding equipment ID number. The feeding equipment is manually operated. The staff operating the feeding equipment holds a terminal corresponding to the excavator. The feeding equipment operator can exchange information with the mining area master controller through the terminal. Among them, the feeding equipment can be an excavator, and the terminal can be a mobile terminal such as a mobile phone, or it can be a control screen that comes with the feeding equipment.

[0022] Specifically, before loading the unmanned mining truck, the mine area master controller will match the unmanned mining truck to be loaded with the loading equipment at the appropriate location, and store the ID numbers of the unmanned mining truck and the loading equipment that cooperate with each other.

[0023] The feeding control method of the unmanned mining truck includes: S1: receiving a loading completion signal sent by the unmanned mining truck, wherein the loading completion signal includes the ID number of the unmanned mining truck.

[0024] Specifically, during the loading process of the unmanned mining truck, a connection is established between the mine area master controller and the control modules of each unmanned mining truck, and then the loading completion signal is detected in real time. The loading completion signal is generated by the unmanned mining truck, and the unmanned mining truck generates the loading completion signal including the following steps: The weight of the ore in the carriage of the unmanned mining truck is obtained in real time to obtain a real-time load value; The real-time load value is compared with a preset load threshold value, and when it is determined that the real-time load value is greater than or equal to the preset load threshold value, the loading completion signal is generated.

[0025] Specifically, each unmanned mining truck is also provided with a weighing component, which is used to weigh the weight of the ore in the carriage, and the control module of each unmanned mining truck stores the preset load threshold of the unmanned mining truck. During the unmanned mining truck loading process, the unmanned mining truck uses its own weighing component to weigh the weight of the material in the carriage in real time, and the weight of the ore obtained by weighing is recorded as the real-time load value; after obtaining the real-time load value, the weighing component sends the real-time load value to the control module of the unmanned mining truck.

[0026] During the loading process of the unmanned mining truck, the control module of the unmanned mining truck compares the real-time load value with the preset load threshold in real time. When the real-time load value is less than the preset load threshold, it indicates that the carriage is not fully loaded, and the control module of the unmanned mining truck does not respond; when the real-time load value is greater than or equal to the preset load threshold, it indicates that the carriage is fully loaded. At this time, the control module of the unmanned mining truck generates a loading completion signal according to the ID number of the unmanned mining truck and sends the loading completion signal to the main controller of the mining area. By comparing the real-time load value with the preset load threshold to determine whether to stop loading, the problem of overloading of the unmanned mining truck can be effectively avoided.

[0027] S2: According to the ID number of the unmanned mining truck, a stop loading signal is sent to the terminal corresponding to the ID number of the loading equipment that cooperates with it.

[0028] Specifically, after receiving the loading completion signal, the mine area master controller determines the ID number of the loading equipment that matches it according to the ID number of the unmanned mining truck carried by the loading completion signal, and then forwards the loading completion signal to the terminal corresponding to the ID number of the loading equipment. When the terminal corresponding to the ID number of the loading equipment receives the stop loading signal, it will display or sound a prompt to prompt the operator. After receiving the prompt, the operator of the loading equipment controls the loading equipment to stop loading the unmanned mining truck, and at the same time sends a feedback signal that loading has stopped to the mine area master controller through the terminal.

[0029] S3: receiving a feedback signal indicating that loading has stopped and sent by a terminal corresponding to the ID number of the feeding equipment.

[0030] Specifically, the main controller of the mine area detects the feedback signal in real time. When it is determined that the feedback signal is received, it indicates that the loading of the unmanned mining truck has been stopped at the loading equipment end.

[0031] S4: sending the received feedback signal to the unmanned mining truck, so that the unmanned mining truck starts transportation after receiving the feedback signal.

[0032] Specifically, after receiving the feedback signal, the mine area general control forwards the feedback signal to the control module of the unmanned mining truck. After receiving the feedback signal, the control module of the unmanned mining truck controls the unmanned mining truck to start and start transportation.

[0033] The control method provided in this embodiment can achieve efficient coordination between the feeding equipment and the unmanned mining truck without the need for manual scheduling and control, thereby saving labor costs and safety risks while improving operating efficiency.

[0034] Furthermore, when loading the unmanned mining truck with mineral materials, since the weight of the material loaded in one bucket of the loading equipment is relatively large, it is possible that the mineral materials in the first bucket of the loading equipment cannot fully load the carriage of the unmanned mining truck, while the mineral materials in the second bucket cause the unmanned mining truck to be overloaded; conventionally, it is determined by the operator of the loading equipment based on observation. In addition, this embodiment also provides another method for avoiding overloading, that is, before the above step S1, it also includes: S01: receiving a near-full-load signal sent by the unmanned mining truck, wherein the near-full-load signal includes the ID number of the unmanned mining truck, and the near-full-load signal is used to instruct the loading device to load materials slowly.

[0035] Specifically, before receiving the loading completion signal, the mine area master control also performs real-time detection of the near full load signal. The near full load signal is generated by the unmanned mining truck, and the unmanned mining truck generates the near full load signal including: Calculating the ratio of the real-time load value to the preset load threshold to obtain a real-time specific weight value; The real-time specific gravity value is compared with a preset specific gravity threshold value, and when it is determined that the real-time specific gravity value is greater than or equal to the preset specific gravity threshold value, the near full load signal is generated.

[0036] Specifically, while the control module of the unmanned mining truck compares the real-time load value with the preset load threshold, the control module of the unmanned mining truck also calculates the ratio of the real-time load value to the preset load threshold in real time, and the calculation result is recorded as the real-time specific gravity value. The control module of the unmanned mining truck stores the preset specific gravity threshold of the unmanned mining truck. Optionally, the preset specific gravity threshold is 90%, and the preset specific gravity threshold can be selected according to the size of the ore and the feeding device.

[0037] After obtaining the real-time specific gravity value, the control module of the unmanned mining truck compares the real-time specific gravity value with the preset specific gravity threshold. When the real-time specific gravity value is less than the preset specific gravity threshold, it indicates that the ore in the carriage has not reached a state close to full load, and the control module of the unmanned mining truck does not respond at this time; when the real-time specific gravity value is greater than or equal to the preset specific gravity threshold, it indicates that the ore in the carriage has reached a state close to full load, and the control module of the unmanned mining truck generates a close to full load signal according to the ID number of the unmanned mining truck, and sends the close to full load signal to the main controller of the mining area. By comparing the real-time specific gravity value with the preset specific gravity threshold to determine whether the ore is close to full load, it can be used to remind the operator of the feeding equipment that the unmanned mining truck is about to be fully loaded, so as to avoid the unmanned mining truck being overloaded or overloaded, resulting in the spillage of ore.

[0038] S02: According to the ID number of the unmanned mining truck, the near-full-load signal is sent to the terminal corresponding to the ID number of the loading equipment that cooperates with it.

[0039] Specifically, after receiving the near-full-load signal, the mine area master controller determines the ID number of the corresponding loading equipment according to the ID number of the unmanned mining truck carried by the near-full-load signal, and then forwards the near-full-load signal to the terminal corresponding to the ID number of the loading equipment. When the terminal corresponding to the ID number of the loading equipment receives the near-full-load signal, it will display or make a sound to prompt the operator. After receiving the prompt, the operator of the loading equipment controls the last bucket of the loading equipment to slowly load the material, trying to ensure that the unmanned mining truck is just fully loaded.

[0040] Furthermore, when loading the unmanned mining truck with mineral materials, due to the different densities of different mineral materials, it is very likely that the carriage of the unmanned mining truck has been filled, but the real-time load value has not yet reached the preset load threshold. It should be noted that the full load here does not mean that the weight of the mineral materials has reached full load, but that the mineral materials have reached the maximum height that the carriage can load. Continuing to load at this time will cause the mineral materials to spill. Therefore, the actual stop of loading can also be determined by the operator of the feeding equipment based on observation. After controlling the feeding equipment to stop feeding, the operator sends a feedback signal of stopping loading to the mine area master control through the terminal, and then executes the above steps S3 and S4. In addition to the above-mentioned determination of whether the unmanned mining truck carriage is full based on observation by the operator of the feeding equipment, this embodiment also provides a method for generating a loading completion signal, the method comprising: Acquire the height of the ore in the carriage of the unmanned mining truck in real time to obtain a real-time height value; The real-time height value is compared with a preset height threshold, and when it is determined that the real-time height value is greater than or equal to the preset height threshold, the loading completion signal is generated.

[0041] Specifically, a detection component is installed on the carriage of the unmanned mining truck, and the detection component is used to detect the height of the ore in the carriage. The control module of each unmanned mining truck stores the preset height threshold of the unmanned mining truck. During the loading process of the unmanned mining truck, the unmanned mining truck uses its own detection component to detect the height of the material in the carriage in real time, and the height of the ore detected is recorded as the real-time height value; after obtaining the real-time height value, the detection component sends the real-time height value to the control module of the unmanned mining truck. Optionally, the detection component is a number of infrared sensors.

[0042] During the loading process of the unmanned mining truck, the control module of the unmanned mining truck compares the real-time height value with the preset height threshold in real time. When the real-time height value is less than the preset height threshold, it indicates that the carriage is not full, and the control module of the unmanned mining truck does not respond at this time; when the real-time height value is greater than or equal to the preset height threshold, it indicates that the carriage is full. At this time, the control module of the unmanned mining truck generates a loading completion signal according to the ID number of the unmanned mining truck, and sends the loading completion signal to the main controller of the mining area, and then executes steps S1-S4. By comparing the real-time height value with the preset height threshold to determine whether the carriage is full, it effectively makes up for the problem that the weight cannot be used to determine whether the carriage is full due to the low density of the ore.

[0043] Furthermore, whether it is determined by obtaining the real-time load value to stop loading, or by detecting the height of the ore pile to determine whether to stop loading, or by the operator of the feeding equipment visually observing whether to stop loading, there may be an uneven top of the ore pile inside the car, and a large deviation in the weight distribution of the ore in the car, which may cause the unmanned mining truck to overturn in severe cases; in addition, the latter two methods of determining whether to stop loading are likely to cause a waste of space in the car, that is, the single conveying volume of the unmanned mining truck does not reach the relative maximum value within the allowable range, thereby affecting operating efficiency.

[0044] To avoid the above situation, after sending the received feedback signal to the unmanned mining truck, before the unmanned mining truck starts to transport after receiving the feedback signal, the method further includes: S4-1: Obtain a distribution image of the mineral material in the carriage of the unmanned mining truck, and obtain flatness information of the top surface of the mineral material in the carriage according to the distribution image, wherein the flatness information is used to indicate adjustment of the mineral material in the carriage.

[0045] Specifically, the distribution image is used to characterize the top surface flatness of the ore in the carriage of the unmanned mining truck. The specific method of obtaining the distribution image is not limited. It can be to install an embedded camera on the top of the side panel of the carriage, and the camera is electrically connected to the control module of the unmanned mining truck. Step S4-1 includes: S4-11: Acquire a top surface image of the mineral material in the carriage of the unmanned mining truck at at least one angle, wherein the top surface image is included in the distribution image.

[0046] Specifically, the unmanned mining truck obtains the top surface image of the ore in the carriage through the camera. After the camera obtains the top surface image, it is sent to the control module of the unmanned mining truck, and then the control module of the unmanned mining truck forwards it to the main controller of the mining area. It should be noted that the number of cameras can be set to multiple, and multiple cameras are used to be distributed in different positions in the carriage. Each camera can obtain a top surface image. The top surface images obtained by the cameras are at different angles. The top surface image is included in the distribution image, that is, the distribution image includes one or more top surface images.

[0047] S4-12: Obtain at least one distribution contour curve based on at least one of the top surface images.

[0048] Specifically, after the controller of the unmanned mining truck receives the top surface image, it performs image recognition on each top surface image, and then obtains the distribution contour curve of the material in the carriage at the corresponding viewing angle. The contour curve includes an x-axis and a y-axis, where the x-axis is the length direction of the carriage and the y-axis is the height direction of the carriage. Here, only the distribution of the mineral material along the length direction of the carriage is considered. Of course, a similar method can also be used to obtain and judge the distribution of the mineral material in the width direction of the carriage, and the specific method will not be repeated.

[0049] In order to improve the accuracy, multiple distribution profile curves can be used to determine whether the ore in the carriage needs to be adjusted. The more distribution profile curves considered, the higher the accuracy.

[0050] S4-13: Divide the carriage of the unmanned mining truck into at least three loading areas according to at least one of the distribution profile curves, and calculate the average height of the ore in each of the loading areas.

[0051] Specifically, the carriage is divided into at least three areas along the length direction according to the distribution contour curve. In this embodiment, the carriage is divided into three loading areas: front, middle and rear. Correspondingly, the obtained distribution contour curve is divided into three segments, and the average height of each segment on the distribution contour curve is calculated to obtain the average height of the mineral material in each loading area.

[0052] S4-14: Generate flatness information of the mineral material in the carriage according to the average heights corresponding to at least three loading areas.

[0053] Specifically, the mine area master controller compares the height difference of the average height of the materials in the three loading areas, and generates flatness information according to the height difference and the unmanned mining truck ID number of the unmanned mining truck, and the flatness information includes the height of the ore in the different loading areas. If the height difference in different loading areas is small, it indicates that the distribution of the ore in the carriage is relatively uniform, and there is no need to adjust the ore in the carriage. If the height difference in different loading areas is large, it indicates that the distribution of the ore in the carriage is seriously uneven, and the ore in the carriage needs to be adjusted.

[0054] S4-2: Sending the flatness information to the unmanned mining truck.

[0055] Specifically, after the mine area master controller obtains the flatness information, the mine area master controller sends the flatness information to the control module of the unmanned mining truck, so that the unmanned mining truck can adjust the ore in the carriage. The specific adjustment method for adjusting the ore is: according to the height of the ore in different loading areas, when it is judged that the ore in the area close to the front end of the carriage is higher than the height of the ore in the area far from the front end of the carriage, the control module of the unmanned mining truck controls the lifting mechanism on the unmanned mining truck to slightly lift the front end of the carriage and then put it down, or controls the unmanned mining truck to accelerate and start; when it is judged that the ore in the area close to the front end of the carriage is lower than the height of the ore in the area far from the front end of the carriage, it is necessary to rely on the operator of the feeding equipment to manually adjust it through the feeding equipment, then the control module of the unmanned mining truck generates a reply signal and sends it to the mine area master controller, and the reply signal includes the height of the ore in each loading area in the carriage.

[0056] After the mine area master controller sends the flatness information to the control module of the unmanned mining truck, the following steps S4-3 and S4-4 are also included: S4-3: receiving a reply signal sent by the unmanned mining truck in response to the flatness information, wherein the reply signal is used to instruct the height of the ore in the carriage to be adjusted by the feeding equipment; S4-4: According to the ID number of the unmanned mining card, a reply signal is sent to the terminal corresponding to the ID number of the loading equipment that cooperates with it.

[0057] Specifically, when the unmanned mining truck itself cannot adjust the ore in the carriage, the control module of the unmanned mining truck generates a reply signal and sends it to the mine area master controller, which then forwards it to the terminal corresponding to the ID number of the loading equipment that cooperates with it. After receiving the reply signal, the operator of the loading equipment manually adjusts the actual height of the ore in the carriage according to the height of the ore in each loading area of ​​the carriage displayed by the reply signal.

[0058] Example 2 This embodiment provides a material feeding control system for an unmanned mining truck, which is applied to the material feeding control method for the unmanned mining truck described in the above embodiment 1, including: A first receiving module 100, wherein the first receiving module 100 is configured to receive a loading completion signal sent by the unmanned mining truck, wherein the loading completion signal includes an ID number of the unmanned mining truck; A first sending module 200, the first sending module 200 is configured to send a stop loading signal to a terminal corresponding to the ID number of a loading device matched therewith according to the ID number of the unmanned mining truck; A second receiving module 300, the second receiving module 300 is configured to receive a feedback signal of loading stopped sent by a terminal corresponding to the ID number of the feeding device; The second sending module 400 is configured to send the received feedback signal to the unmanned mining truck, so that the unmanned mining truck starts transportation after receiving the feedback signal.

[0059] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A method for controlling the loading of an unmanned mining truck, characterized in that: Based on the mine area master controller, the mine area master controller is connected with the signals of each unmanned mining truck and feeding equipment in the mine area, and stores the ID number of each unmanned mining truck and feeding equipment. The control method includes: Receiving a loading completion signal sent by the unmanned mining truck, wherein the loading completion signal includes the ID number of the unmanned mining truck; According to the ID number of the unmanned mining card, a stop loading signal is sent to the terminal corresponding to the ID number of the loading equipment matched with it; Receiving a feedback signal indicating that loading has stopped, sent by a terminal corresponding to the ID number of the feeding device; The received feedback signal is sent to the unmanned mining truck, so that the unmanned mining truck starts transportation after receiving the feedback signal.

2. The material loading control method of the unmanned mining truck according to claim 1, characterized in that: The loading completion signal is generated by the unmanned mining truck, and the unmanned mining truck generates the loading completion signal including: The weight of the ore in the carriage of the unmanned mining truck is obtained in real time to obtain a real-time load value; The real-time load value is compared with a preset load threshold value, and when it is determined that the real-time load value is greater than or equal to the preset load threshold value, the loading completion signal is generated.

3. The material loading control method of the unmanned mining truck according to claim 2 is characterized in that: Before receiving the loading completion signal sent by the unmanned mining truck, the method further includes: receiving a near-full-load signal sent by the unmanned mining truck, wherein the near-full-load signal includes the ID number of the unmanned mining truck, and the near-full-load signal is used to instruct the loading device to load materials slowly; According to the ID number of the unmanned mining card, the near full load signal is sent to the terminal corresponding to the ID number of the loading equipment that cooperates with it.

4. The material loading control method of the unmanned mining truck according to claim 3 is characterized in that: The near full load signal is generated by the unmanned mining truck, and the unmanned mining truck generates the near full load signal including: Calculating the ratio of the real-time load value to the preset load threshold to obtain a real-time specific weight value; The real-time specific gravity value is compared with a preset specific gravity threshold value, and when it is determined that the real-time specific gravity value is greater than or equal to the preset specific gravity threshold value, the near full load signal is generated.

5. The material loading control method of an unmanned mining truck according to claim 1, characterized in that: The unmanned mining truck generates the loading completion signal, further comprising: Acquire the height of the ore in the carriage of the unmanned mining truck in real time to obtain a real-time height value; The real-time height value is compared with a preset height threshold, and when it is determined that the real-time height value is greater than or equal to the preset height threshold, the loading completion signal is generated.

6. The material loading control method of the unmanned mining truck according to claim 5, characterized in that: After sending the received feedback signal to the unmanned mining truck, and before the unmanned mining truck starts to transport after receiving the feedback signal, the method further includes: Acquire a distribution image of the mineral material in the carriage of the unmanned mining truck, and obtain the flatness information of the top surface of the mineral material in the carriage according to the distribution image, wherein the flatness information is used to indicate adjustment of the mineral material in the carriage; The flatness information is sent to the unmanned mining truck.

7. The material loading control method of the unmanned mining truck according to claim 6, characterized in that: The step of acquiring a distribution image of the mineral material in the carriage of the unmanned mining truck and obtaining the flatness information of the top surface of the mineral material in the carriage according to the distribution image comprises: Acquire a top surface image of the mineral material in the carriage of the unmanned mining truck at at least one angle, wherein the top surface image is included in the distribution image; Obtain at least one distribution profile curve according to at least one of the top surface images; Divide the carriage of the unmanned mining truck into at least three loading areas according to at least one of the distribution profile curves, and calculate the average height of the ore in each of the loading areas; The flatness information of the mineral material in the carriage is generated according to the average heights corresponding to at least three loading areas.

8. The material loading control method of the unmanned mining truck according to claim 7, characterized in that: After sending the flatness information to the unmanned mining truck, the method further includes: Receiving a reply signal sent by the unmanned mining truck in response to the flatness information, wherein the reply signal is used to instruct the height of the ore in the carriage to be adjusted by the feeding equipment; According to the ID number of the unmanned mining card, a reply signal is sent to the terminal corresponding to the ID number of the loading equipment that cooperates with it.

9. The material loading control method of the unmanned mining truck according to claim 8, characterized in that: The flatness information includes the height of the ore in different loading areas.

10. A feeding control system for an unmanned mining truck, characterized in that: The material loading control method applied to the unmanned mining truck according to any one of claims 1 to 9 comprises: A first receiving module (100), the first receiving module (100) being configured to receive a loading completion signal sent by the unmanned mining truck, the loading completion signal comprising an ID number of the unmanned mining truck; A first sending module (200), the first sending module (200) being configured to send a stop loading signal to a terminal corresponding to an ID number of a matching loading device according to the ID number of the unmanned mining truck; A second receiving module (300), the second receiving module (300) being configured to receive a feedback signal indicating that loading has stopped and sent by a terminal corresponding to the ID number of the loading equipment; A second sending module (400), the second sending module (400) is configured to send the received feedback signal to the unmanned mining truck, so that the unmanned mining truck starts transportation after receiving the feedback signal.

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