Maintenance device for mine car hopper and mining equipment for mine resources

Abstract

The invention discloses a maintenance device for a mine car hopper and mining equipment for mine resources. The device comprises a data acquisition module which is used for acquiring real-time data of a mine car hopper, and the real-time data comprises image data, state data, position data and environment data; the data analysis module is used for calling a plurality of functional units to analyze the real-time data and determining fault information and a maintenance strategy of the mine car hopper; the path planning module is used for generating an action path of a to-be-executed maintenance action according to the fault information and the maintenance strategy; and the maintenance execution module is used for controlling a mechanical arm corresponding to the mine car hopper to execute the maintenance action according to the action path. The technical problems of low safety, low accuracy and poor reliability of a mine car hopper maintenance scheme in related technologies are solved.

Description

Technical Field

[0001] The present application relates to the field of automated maintenance technology, and in particular to a maintenance device for a mine car bucket and mining equipment for mining resources. Background Art

[0002] In the process of mining resources using mining machinery and equipment, the machinery and equipment are easily disturbed by the working environment, operators, internal structure of the machinery and equipment, and the workload of the mining work, which will affect the internal parameters of the machinery and equipment and may cause failures of the mining machinery and equipment.

[0003] In the related technology, the method mainly relies on sensors to detect the faulty parts of mining machinery and equipment, and then relies on manual operation to repair / replace the parts. The damaged parts are restored to a normal operating state through corresponding processes and technologies to complete the maintenance of the faulty mining machinery and equipment. However, on the one hand, due to the complex internal environment of the mine car bucket, the sensors will be easily interfered, and the sensor's perception and positioning accuracy is insufficient, which makes it difficult to accurately complete the maintenance of the mine car bucket. The maintenance plan of the mine car bucket has low accuracy and poor reliability; on the other hand, due to the harsh working conditions of the mine car bucket, the maintenance plan relying on manual operation has low safety.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present application provide a maintenance device for a mine car bucket and mining equipment for mining resources, so as to at least solve the technical problems of low safety, low accuracy and poor reliability of the mine car bucket maintenance scheme in the related art.

[0006] According to one aspect of an embodiment of the present application, a maintenance device for a mine car bucket is provided, including: a data acquisition module, used to collect real-time data of the mine car bucket, the real-time data including image data, status data, position data and environmental data; a data analysis module, used to call multiple functional units to analyze the real-time data and determine the fault information and maintenance strategy of the mine car bucket; a path planning module, used to generate an action path for the maintenance action to be performed according to the fault information and maintenance strategy; a maintenance execution module, used to control the mechanical arm corresponding to the mine car bucket to perform the maintenance action according to the action path.

[0007] Optionally, the data acquisition module integrates an image sensor, a state sensor, a position sensor and an environmental sensor, and the data acquisition module is also used to store the real-time data and the historical maintenance records corresponding to the mine car bucket in a distributed storage manner.

[0008] Optionally, the multiple functional units include: an image recognition unit and a fault diagnosis unit, wherein the image recognition unit is used to analyze real-time data using a vector machine, and identify and determine the three-dimensional position of a fault point in the mine car bucket from the image data; the fault diagnosis unit is used to perform fault diagnosis based on the three-dimensional position of the fault point, and generate fault information and maintenance strategies.

[0009] Optionally, the image recognition unit is used to determine the area of ​​interest from the image data in the real-time data, perform pixel clustering on the area of ​​interest using the position data, determine the pixel position of the mine car bucket, and input the spatial geometric features corresponding to the pixel position into the vector machine for pixel classification and recognition to determine the three-dimensional position of the fault point.

[0010] Optionally, the fault diagnosis unit also includes a machine learning model, which is used to use Gabor wavelet functions and hybrid evolutionary algorithms to perform fault diagnosis analysis on real-time data, historical maintenance records and three-dimensional positions of fault points, predict fault information, and generate maintenance strategies based on the fault information.

[0011] Optionally, the path planning module is used to perform path planning based on a rapidly expanding random tree algorithm, the internal spatial structure of the mine car bucket, fault information and an operating characteristic model of the robotic arm to obtain an action path so that the robotic arm reaches the three-dimensional position of the fault point in the mine car bucket when performing maintenance actions along the action path.

[0012] Optionally, the maintenance execution module includes an intelligent control unit, which is used to adjust the maintenance action performed by the robotic arm according to real-time feedback data corresponding to the mine car bucket.

[0013] Optionally, the maintenance execution module is configured with a tool library corresponding to the robotic arm, and the intelligent control unit is further used to select a target maintenance tool from the tool library according to the maintenance strategy, and control the robotic arm to perform maintenance actions using the target maintenance tool.

[0014] Optionally, the maintenance device of the mine car body also includes a remote monitoring module, which is used to transmit the execution screen signal of the maintenance action to the remote terminal, control the remote terminal to display the execution screen signal through the graphical user interface, and respond to the intervention guidance operation performed on the graphical user interface to adjust the maintenance action.

[0015] According to another aspect of an embodiment of the present application, there is also provided a mining resource mining equipment, including: a mine car and any one of the above-mentioned maintenance devices, the maintenance device being used for real-time status monitoring and automatic maintenance of the bucket of the mine car.

[0016] In the embodiment of the present application, the data acquisition module is used to collect real-time data of the mine car bucket, and the real-time data includes image data, status data, location data and environmental data; the data analysis module is used to call multiple functional units to analyze the real-time data and determine the fault information and maintenance strategy of the mine car bucket; the path planning module is used to generate the action path of the maintenance action to be performed according to the fault information and maintenance strategy; the maintenance execution module is used to control the mechanical arm corresponding to the mine car bucket to perform the maintenance action according to the action path. As a result, the present application achieves the purpose of more accurate and automated maintenance of the mine car bucket, thereby realizing the technical effect of improving the safety, accuracy and reliability of the mine car bucket maintenance plan, and further solves the technical problems of low safety, low accuracy and poor reliability of the mine car bucket maintenance plan in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 It is a structural block diagram of a maintenance device for a mine car bucket according to an embodiment of the present application;

[0019] Figure 2 It is a structural block diagram of an automated operation platform for maintenance of a large-scale mining vehicle bucket according to an embodiment of the present application;

[0020] Figure 3 It is a structural block diagram of an operating system of a large-scale mining car bucket maintenance automation platform according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] Under the above operating environment, the embodiment of the present application provides the following Figure 1 The maintenance device of the mine car body shown in the figure, Figure 1 is a structural block diagram of a maintenance device for a mine car bucket according to an embodiment of the present application, such as Figure 1 As shown, the device includes: a data acquisition module 101, which is used to collect real-time data of the mine car bucket, and the real-time data includes image data, status data, position data and environmental data; a data analysis module 102, which is used to call multiple functional units to analyze the real-time data and determine the fault information and maintenance strategy of the mine car bucket; a path planning module 103, which is used to generate an action path for the maintenance action to be performed according to the fault information and maintenance strategy; a maintenance execution module 104, which is used to control the mechanical arm corresponding to the mine car bucket to perform the maintenance action according to the action path.

[0024] The above image data may be image information of the inside and outside of the mine car bucket, and the image data may be used to display the structural details of the inside and outside of the bucket, and the image data may also be used to assist in confirming the fault information of the mine car bucket. The above status data may be data of the current health status of the mine car bucket, and the status data may include but is not limited to the degree of wear, crack conditions, structural integrity, etc. The above position data may be the precise coordinates of the bucket in three-dimensional space, and the position information of each component of the bucket relative to the bucket. The above environmental data may be the environmental conditions of the mine car bucket maintenance site, such as temperature, humidity, light intensity, air quality, dust concentration, etc.

[0025] The above fault information can be used to identify the fault condition of the mine car bucket, and the fault information may include but is not limited to the fault type, fault location and the corresponding severity of the fault. The above maintenance strategy can be obtained by training a machine learning algorithm model (such as a support vector machine, a neural network, etc.), and the maintenance strategy may include but is not limited to the information of maintenance tools, the selection of maintenance tools, and maintenance step information.

[0026] The above-mentioned action path may be a motion sequence of the robot arm performing maintenance actions, and the action path may be used to assist the robot arm in reaching the fault point of the mine car bucket.

[0027] The above maintenance actions may be specific maintenance operations performed by the robotic arm on the bucket of the mine car, such as cleaning parts, welding parts, replacing parts, etc.

[0028] Specifically, the data acquisition module 101 continuously monitors and collects the above-mentioned real-time data through multiple sensor devices, converts the real-time data in the form of analog signals of the mine car bucket (such as image data, status data, position data and environmental data) into analyzable digital signal forms, and transmits them to the data analysis module 102. Further, the data analysis module 102 calls multiple functional units to analyze the real-time data received from the data acquisition module 101, identifies the fault point of the mine car bucket, and determines the fault information and maintenance strategy of the mine car bucket. Further, the path planning module 103 generates an action path for the mechanical arm to perform a maintenance action according to the fault information and maintenance strategy. Further, the maintenance execution module 104 controls the mechanical arm corresponding to the mine car bucket to perform the maintenance action according to the action path generated by the path planning module 103.

[0029] It is easy to understand that through the above-mentioned mine car bucket maintenance device, in the embodiment of the present application, the automation level of mine car bucket maintenance is improved, which not only reduces the cost of manpower maintenance, improves the maintenance efficiency and the safety of the maintenance plan, but also reduces the impact of environmental factors and human factors on mine car bucket maintenance, and improves the accuracy and reliability of maintenance operations.

[0030] The maintenance device for the above-mentioned mine car bucket according to the embodiment of the present application is further introduced below.

[0031] According to one aspect of an embodiment of the present application, a maintenance device for a mine car bucket is provided, comprising:

[0032] Optionally, the data acquisition module 101 integrates an image sensor, a state sensor, a position sensor and an environmental sensor. The data acquisition module 101 is also used to store real-time data and historical maintenance records corresponding to the mine car bucket in a distributed storage manner.

[0033] The image sensor can be used to capture a two-dimensional or three-dimensional image of the bucket of the mine car. The environmental sensor can include a temperature sensor, a humidity sensor, a light sensor, a dust concentration monitoring sensor, a gas concentration sensor, and the like.

[0034] Specifically, the data acquisition module 101 collects data in real time through image sensors, state sensors, position sensors and environmental sensors, and stores the real-time data and the historical maintenance records corresponding to the mine car bucket in a distributed storage manner.

[0035] It is easy to understand that through the above-mentioned mine car body maintenance device, in the embodiment of the present application, through a distributed storage method, real-time data and historical maintenance records corresponding to the mine car body can be efficiently recorded and managed, ensuring that the data generated by each sensor can be archived in a timely and safe manner, thereby improving the storage efficiency of real-time data and improving the real-time nature of maintenance operations.

[0036] Optionally, the multiple functional units include: an image recognition unit and a fault diagnosis unit, wherein the image recognition unit is used to analyze real-time data using a vector machine, and identify and determine the three-dimensional position of a fault point in the mine car bucket from the image data; the fault diagnosis unit is used to perform fault diagnosis based on the three-dimensional position of the fault point, and generate fault information and maintenance strategies.

[0037] The above-mentioned vector machine can be a supervised learning algorithm, such as a support vector machine (SVM), which can be used for classification and regression analysis. The above-mentioned three-dimensional position of the fault point can be the coordinate position of the fault point of the mine car bucket in three-dimensional space, and the three-dimensional position of the fault point can be used to assist the mechanical arm to locate the fault area and plan the maintenance path.

[0038] Specifically, the image recognition unit in the plurality of functional units receives the real-time data of the mine car bucket from the data acquisition module 101, analyzes the real-time data using the vector machine model, identifies and locates the fault point of the mine car bucket from the image data in the real-time data, and determines the precise position of each fault point of the mine car bucket in the three-dimensional space using the real-time data. Further, the fault diagnosis unit in the plurality of functional units receives the three-dimensional position of the fault point output by the image recognition unit, and performs analysis based on the three-dimensional position of the fault point to generate fault information and maintenance strategies.

[0039] It is easy to understand that through the above-mentioned mine car bucket maintenance device, on the one hand, in the embodiment of the present application, by using the vector machine algorithm, the fault point position of the mine car bucket can be accurately identified from complex image data, and the accuracy and reliability of identifying the fault point position of the mine car bucket can be maintained even under working conditions in complex environments; on the other hand, in the embodiment of the present application, by using the fault diagnosis unit, the fault type and cause can be intelligently diagnosed, thereby formulating a more accurate maintenance strategy, reducing dependence on manual diagnosis, and improving the accuracy and efficiency of maintenance decisions.

[0040] Optionally, the image recognition unit is used to determine the area of ​​interest from the image data in the real-time data, perform pixel clustering on the area of ​​interest using the position data, determine the pixel position of the mine car bucket, and input the spatial geometric features corresponding to the pixel position into the vector machine for pixel classification and recognition to determine the three-dimensional position of the fault point.

[0041] The region of interest may be a specific area in the image that may contain a fault point, and the region of interest may be determined based on the structure of the mine car body and common fault areas of the mine car body (such as the connection points, load-bearing surfaces or high wear areas of the body). The pixel clustering may be used to group pixels in the image according to their spatial attributes or feature similarities to identify areas with specific attributes.

[0042] The pixel positions may be pixel coordinates of the contour of the mine car bucket and pixel coordinates of the mine car bucket components in the image coordinate system. The spatial geometric features may be attributes describing the shape and position of an object in three-dimensional space (such as the size, position, orientation, and surface characteristics of the object).

[0043] Specifically, the image recognition unit identifies the region of interest from the image data, filters other irrelevant background information through the machine algorithm model, and focuses the attention of the machine algorithm model on the region of interest where faults may exist; further, the image recognition unit uses the position data to spatially locate each pixel point, clusters adjacent pixels with similar attributes (such as color, texture or depth value), and determines the pixel position of the mine car bucket; further, based on the pixel position of the mine car bucket, the image recognition unit further analyzes its spatial geometric features, inputs the spatial geometric features corresponding to the pixel positions into the vector machine, and the vector machine performs pixel classification and recognition on the spatial geometric features corresponding to the pixel positions to determine the three-dimensional position of the fault point.

[0044] It is easy to understand that through the above-mentioned mine car body maintenance device, in the embodiment of the present application, by determining the area of ​​interest and pixel clustering, the image recognition unit can quickly filter out irrelevant information and focus on possible fault point areas, thereby improving the efficiency and accuracy of mine car body fault identification.

[0045] Optionally, the fault diagnosis unit also includes a machine learning model, which is used to use Gabor wavelet functions and hybrid evolutionary algorithms to perform fault diagnosis analysis on real-time data, historical maintenance records and three-dimensional positions of fault points, predict fault information, and generate maintenance strategies based on the fault information.

[0046] The Gabor wavelet function can be used to extract fault-related image features (such as wear degree, crack shape, etc.) from real-time data and historical maintenance records. The hybrid evolutionary algorithm can be used to optimize the parameter selection of the Gabor wavelet function, as well as feature selection and weight adjustment during model training.

[0047] Specifically, the machine learning model in the fault diagnosis unit decomposes the image data in the real-time data through the Gabor wavelet function to extract the texture and structural features of the fault point; further, the machine learning model in the fault diagnosis unit performs fault diagnosis analysis based on the real-time data, historical maintenance records, the three-dimensional position of the fault point, and the texture and structural features of the fault point output by the Gabor wavelet function, predicts the fault information, and generates a maintenance strategy based on the fault information; in addition, in the process of fault diagnosis analysis in the fault diagnosis unit, the hybrid evolutionary algorithm is used to optimize the scale, direction and other parameters of the Gabor wavelet function on the one hand; on the other hand, in the iterative process, the parameters of the machine learning model can be automatically adjusted to better adapt to the actual fault modes and environmental changes, thereby improving the accuracy and generalization ability of the machine learning model.

[0048] It is easy to understand that through the above-mentioned mine car bucket maintenance device, in the embodiment of the present application, on the one hand, by using the Gabor wavelet function, the fault diagnosis unit can quickly and accurately identify faults from the data, thereby improving the accuracy of the model diagnosis and accelerating the diagnosis speed of the model; on the other hand, by using the hybrid evolutionary algorithm, not only the efficiency and accuracy of extracting fault features from the image are improved, but also the accuracy and generalization ability of the machine learning model can be improved.

[0049] Optionally, the path planning module 103 is used to perform path planning based on a rapidly expanding random tree algorithm, the internal space structure of the mine car bucket, fault information and an operating characteristic model of the robotic arm to obtain an action path so that the robotic arm reaches the three-dimensional position of the fault point in the mine car bucket when performing maintenance actions along the action path.

[0050] The above-mentioned rapidly expanding random tree algorithm can be an algorithm for solving path planning problems in complex environments. The rapidly expanding random tree algorithm can be used to search the free space inside the bucket of a mine car to find the shortest path from the current position of the robotic arm to the three-dimensional position of the fault point, while ensuring that the path avoids obstacles.

[0051] The internal space structure of the above-mentioned mine car bucket may include but is not limited to the shape of the mine car bucket, the size of the mine car bucket, and the corresponding layout of the components inside the mine car bucket.

[0052] The above-mentioned operation characteristic model of the robotic arm may be a mathematical model of the robotic arm's motion capability, limitation and efficiency. The operation characteristic model of the robotic arm may include information such as the robotic arm's motion range, joint steering angle, and load capacity.

[0053] Specifically, the path planning module 103 uses a rapidly expanding random tree algorithm and an operating characteristic model of the robotic arm to randomly select a free space point inside the truck bed, and attempts to construct a path from the current position of the robotic arm to the fault point that can avoid obstacles, and iterates until a path is found that can reach the three-dimensional position of the fault point and that satisfies the set optimization criteria (such as shortest distance, minimum execution time, etc.), thereby obtaining an action path.

[0054] It is easy to understand that through the above-mentioned mine car body maintenance device, in the embodiment of the present application, by utilizing the rapidly expanding random tree algorithm and the operating characteristic model of the robotic arm, combined with the fault point information and the internal space structure of the body, the path planning module can generate a precise path for the robotic arm from the current position to the fault point, ensuring high-precision positioning of the maintenance action, so as to realize the automatic execution of the maintenance action by the robotic arm, thereby improving the automation level of the maintenance process, reducing labor costs and operating difficulties, and improving the safety and reliability of the maintenance plan.

[0055] Optionally, the maintenance execution module 104 includes an intelligent control unit, which is used to adjust the maintenance action performed by the mechanical arm according to the real-time feedback data corresponding to the mine car bucket.

[0056] The above-mentioned real-time feedback data may be data about the truck bed status and robotic arm operation collected by the sensor system and transmitted to the intelligent control unit during the maintenance process. The real-time feedback data may include but is not limited to information such as the vibration and temperature of the truck bed, the load and position deviation of the robotic arm, and visual feedback of the truck bed maintenance status.

[0057] Specifically, during the maintenance process, the sensor system continuously monitors the status of the bucket and the mechanical arm, and transmits real-time feedback data to the intelligent control unit, which receives the real-time feedback data and compares it with the preset bucket status, maintenance goals and safety standards. If the monitored data deviates from the predetermined range, the control unit will immediately adjust the control instructions, such as changing the movement speed of the mechanical arm, adjusting the use of tools or changing the operation path, to ensure the accuracy, safety and efficiency of the maintenance action.

[0058] It is easy to understand that through the above-mentioned mine car bucket maintenance device, in the embodiment of the present application, by real-time monitoring of the state of the bucket and the operating effect of the robotic arm, the intelligent control unit can finely adjust the maintenance action in real time to ensure the accuracy of the repair operation, reduce maintenance errors caused by improper operation, and be able to respond to changes in the bucket state in real time during the maintenance process, thereby improving the adaptability and flexibility of the maintenance device.

[0059] Optionally, the maintenance execution module 104 is configured with a tool library corresponding to the robotic arm, and the intelligent control unit is further used to select a target maintenance tool from the tool library according to the maintenance strategy, and control the robotic arm to perform maintenance actions using the target maintenance tool.

[0060] The tool library can be a collection of a series of maintenance tools configured by the robot arm, which can be used to perform maintenance tasks, such as welding cracks, cutting replacement parts, spraying paint to cover rusted areas, etc. The maintenance tools include but are not limited to welding guns, cutters, paint guns, cleaning brushes, etc.

[0061] Specifically, the maintenance execution module 104 selects the target maintenance tool that best meets the current maintenance strategy requirements from the tool library according to the maintenance strategy formulated by the intelligent control unit. For example, if the maintenance strategy indicates that the crack needs to be welded, the intelligent control unit will select a welding gun as the target maintenance tool. Further, the maintenance execution module 104 controls the robot arm to use these tools to perform specific maintenance actions.

[0062] It is easy to understand that through the above-mentioned mine car bucket maintenance device, in the embodiment of the present application, using an intelligent control unit, it is possible to select tools based on the maintenance strategy, ensuring that the selected tools accurately match the type and location of the fault point, avoiding maintenance failure or inefficiency caused by unsuitable tools, and improving the accuracy and reliability of the maintenance device for mine car bucket maintenance.

[0063] Optionally, the maintenance device of the mine car bucket also includes a remote monitoring module ( Figure 1 The remote monitoring module is used to transmit the execution screen signal of the maintenance action to the remote terminal, control the remote terminal to display the execution screen signal through the graphical user interface, and respond to the intervention guidance operation performed on the graphical user interface to adjust the maintenance action.

[0064] The above-mentioned execution screen signal can be a digital signal corresponding to the real-time video stream captured by the camera or other visual sensors of the maintenance execution module 104 during the maintenance process. The execution screen signal may include information such as the real-time position of the robotic arm, the maintenance status of the truck bed, and the execution process of the maintenance action.

[0065] The remote terminal may be a device with a graphical user interface, such as a personal computer, a tablet computer or a smart phone. The intervention guidance operation may be a remote operator adjusting and guiding the ongoing maintenance action in real time through the graphical user interface. The intervention guidance operation may include but is not limited to adjusting the motion trajectory of the robot arm, replacing maintenance tools, and modifying the maintenance strategy.

[0066] Specifically, when the maintenance execution module is performing maintenance actions, the camera it is equipped with will acquire the execution screen in real time and convert the execution screen into a digital execution screen signal, which will be sent to the remote monitoring module through the communication system; further, after receiving the execution screen signal, the remote monitoring module will use communication technology to transmit the signal to the remote terminal, and control the remote terminal to display the execution screen signal through a graphical user interface; further, if the remote operator observes that specific operations are required during the maintenance process, the remote operator can send intervention guidance operations through the graphical user interface to adjust the maintenance actions.

[0067] It is easy to understand that through the above-mentioned mine car bucket maintenance device, on the one hand, in the embodiment of the present application, by using the remote monitoring module, the operator does not need to enter the high-risk mine car working environment, and can remotely monitor the maintenance process of the mine car bucket in real time, thereby improving the safety of the maintenance plan; on the other hand, in the embodiment of the present application, by using the remote monitoring module, data visualization is enhanced, and the operator can remotely intervene and guide the operation in real time according to the maintenance process of the mine car bucket, and can flexibly and timely adjust the maintenance actions to cope with complex maintenance needs, thereby improving the flexibility and accuracy of the maintenance process.

[0068] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0069] In the embodiment of the present application, the data acquisition module is used to collect real-time data of the mine car bucket, and the real-time data includes image data, status data, location data and environmental data; the data analysis module is used to call multiple functional units to analyze the real-time data and determine the fault information and maintenance strategy of the mine car bucket; the path planning module is used to generate the action path of the maintenance action to be performed according to the fault information and maintenance strategy; the maintenance execution module is used to control the mechanical arm corresponding to the mine car bucket to perform the maintenance action according to the action path. As a result, the present application achieves the purpose of more accurate and automated maintenance of the mine car bucket, thereby realizing the technical effect of improving the safety, accuracy and reliability of the mine car bucket maintenance plan, and further solves the technical problems of low safety, low accuracy and poor reliability of the mine car bucket maintenance plan in the related technology.

[0070] According to another aspect of the embodiment of the present application, a large-scale mining vehicle bucket maintenance automation operation platform is also provided. Figure 2 is a structural block diagram of a large-scale mine car bucket maintenance automation operation platform according to an embodiment of the present application, such as Figure 2As shown, the platform includes: a robotic arm, a sensor system, a control system, a communication system, and a user interface, wherein the robotic arm can be used to perform various inspection and maintenance actions on the bucket, the operating system can be used to control the operation of the robotic arm, sensors and other actuators, the communication system can be used to interact and communicate with external systems or staff, the sensor system is used to obtain status information and surrounding environment information of the bucket, and the user interface can be used to assist staff in monitoring the maintenance process of the mine car bucket and assist staff in performing intervention guidance operations.

[0071] The above-mentioned mechanical arm can use a robot arm with load-bearing capacity and precise control ability, and the mechanical arm is equipped with a dedicated tool library to store various maintenance tools.

[0072] The sensor system can detect the status, location and maintenance path environment of the mine car bucket in real time through the installed multiple sensor devices to support automated operation and safety protection. The sensor system adopts a distributed storage method to record and store data collected by multiple sensors, and deploys a dedicated server in the sensor system to parse and call the data.

[0073] Through the above user interface, the status information of the mine car body and the maintenance progress can be displayed to the operator in a visual manner.

[0074] The above control system can confirm the maintenance status of the truck bed based on the real-time data of the sensor. The control system can also realize intelligent control of the maintenance operation of the truck bed based on the real-time data of the sensor.

[0075] The communication system may use wireless networks or satellite communications to assist operators in remotely monitoring the maintenance process.

[0076] The large-scale mining car body maintenance automated operation platform is equipped with a safety protection mechanism. Combined with the real-time data collected by the sensor system, it can respond to safety incidents in a timely manner and take corresponding measures to protect operators and equipment. At the same time, the platform allows new functional modules or interfaces to be added according to actual needs to adapt to actual changes in needs.

[0077] It should be noted that the above-mentioned large-scale mine car bucket maintenance automatic operation platform can also include a self-checking system ( Figure 2 The self-checking system can be used to check the status of the mechanical arm and the maintenance tools, and the self-checking system can also be used to check the position and status of the mine car bucket. The above-mentioned large mine car bucket maintenance automatic operation platform can also include an automatic maintenance system, ( Figure 2(not shown in the figure), the automatic maintenance system can be used to regularly perform maintenance on the large mining car bucket maintenance automated operation platform, such as cleaning the robotic arm and maintenance tools, checking the sensor system and control system, replacing parts of the sensor system and control system, etc.

[0078] According to another aspect of the embodiment of the present application, an operating system for a large-scale mine car bucket maintenance automation platform is also provided. Figure 3 is a structural block diagram of an operating system of a large-scale mine car bucket maintenance automation platform according to an embodiment of the present application, such as Figure 3 As shown, the operating system includes: an equipment control module, a sensor module, an image recognition and processing module, and a path planning and motion control module, wherein the equipment control module can be used to realize the control of the automated maintenance equipment, the sensor module can integrate a variety of sensors to monitor various parameters and states during the maintenance process, the image recognition and processing module can recognize and process the bucket image to realize automatic positioning and identification of fault points, and the path planning and motion control module can be used to plan the motion path of the maintenance robot arm to ensure that the robot arm can perform maintenance operations inside the bucket safely, accurately and efficiently.

[0079] The operating system also includes: a remote monitoring and operation module, a data recording and analysis module, a safety assurance module, and a fault diagnosis and prediction module. Among them, the remote monitoring and operation module can assist the operator to remotely monitor the maintenance process in real time, and the remote monitoring and operation module can also assist the operator to intervene and guide operations during the maintenance process. The safety assurance module can be used to ensure the safety of the maintenance operation process, and the safety assurance module can also provide emergency plans for dangerous situations. The data recording and analysis module can record the data during the maintenance process to support the analysis, evaluation and improvement of the data during the maintenance process. The fault diagnosis and prediction module can integrate data analysis and machine learning technologies to perform real-time diagnosis and prediction of faults during the truck body maintenance process.

[0080] The above-mentioned image recognition and processing module can utilize two-dimensional images, three-dimensional information and relevant vector machines to realize classification and identification of real-time fault points by training relevant vector machine classifiers, and transmit the location information of the fault points to the path planning and motion control module to detect and identify faults in real time. In the process of real-time detection and identification of faults using two-dimensional images, three-dimensional information and relevant vector machines, the model and parameter information of the mine car bucket can also be obtained according to the input information of the operator or the identification operation of the mine car bucket. Furthermore, the three-dimensional information of the pixels is used to cluster the region of interest to obtain the pixel position of the mine car bucket, and the spatial geometric features corresponding to the pixel position are input into the vector machine for pixel classification and identification, the three-dimensional position of the fault point is determined, and the three-dimensional position of the fault point is sent to the path planning and motion control module.

[0081] The above-mentioned path planning and motion control module can use the Rapidly-exploring Random Trees (RRT algorithm) to plan the motion path of the robot arm based on the spatial structure inside the truck bed and the three-dimensional position of the fault point to ensure that it can effectively reach the target point, and use the kinematic model to describe the motion characteristics of the robot arm.

[0082] The above fault diagnosis and prediction module can use Gabor wavelet function and hybrid evolutionary algorithm to optimize the selection of image features, effectively reducing the amount of calculation while ensuring the reliability of model output, and then use the neural network model to perform real-time diagnosis and prediction of faults in the mine car body maintenance process.

[0083] The above process of optimizing the selection of image features using Gabor wavelet function and hybrid evolutionary algorithm can be implemented through the following steps.

[0084] The outer genetic algorithm uses binary coding to divide the original image features into selected pixels and unselected pixels. When the pixel at position (i, j) is selected, its corresponding gene on the chromosome is recorded as 1, otherwise it is recorded as 0, which is recorded as Link n (n=0,1,2,…,i×j-1), the encoding of the inner evolutionary algorithm uses integer encoding to arrange the number of scales and directions together.

[0085] In the outer genetic algorithm, typical single-point crossover and basic bit mutation operations are used. In the inner evolutionary algorithm, there is no crossover process and only Gaussian random mutation is used, as shown in formula (1).

[0086]

[0087] In formula (1), η i represents the i-th component in the inner evolutionary algorithm, H i represents the maximum value of the i-th component, L i Represents the minimum value of the i-th component.

[0088] The fitness function can be expressed by equations (2) to (6).

[0089] Fitness3=αFitness1+βFitness2 Formula (2)

[0090]

[0091] In formula (2) to formula (6), M represents the number of categories, L m represents the number of samples of the mth class, represents the characteristic amplitude of the i-th sample belonging to class m extracted by Gabor wavelet, um =E[J m ],u n =E[J n ], where J m and J n They represent the characteristic amplitude vectors of m and n categories respectively extracted by Gabor wavelet. The operator E[] represents the mean value. s is the size of the image. That is, the pixels of the image are selected to represent the sum of the number of pixels of the image, K represents the product of the Gabor wavelet scale and the number of directions used to decompose the image, α represents the weighting coefficient of Fitness1, and β represents the weighting coefficient of Fitness2.

[0092] In the process of using Gabor wavelet function to extract texture features of images, genetic algorithms are used to optimize the selection of pixels with strong ability to distinguish fault points, and evolutionary rules are used to optimize the selection of features in multiple scales and directions contained in pixels. Gabor features are calculated at a better scale and direction, thereby improving the accuracy of describing images while reducing the amount of calculation.

[0093] In both the outer genetic algorithm and the inner evolutionary algorithm, a combination of roulette and elite selection is used. If the conditions are met, the next generation is selected to form a new population; when the set convergence judgment conditions are met, the iteration is stopped.

[0094] The operator can operate the operating system of the above-mentioned large-scale mining car bucket maintenance automation platform through the following steps S11 to S15.

[0095] Step S11, start the operating system of the large-scale mining car bucket maintenance automation platform: turn on the computer and display screen, start the operating system and control program. The operating system will automatically detect the status of the mechanical arm and maintenance tools, and perform initialization settings.

[0096] Step S12, select maintenance task: select the maintenance task to be performed through the display screen, such as disassembly, cleaning, repair, assembly of the bucket, etc. The operating system will automatically adjust the movement of the robot arm and the selected maintenance tools according to the maintenance task.

[0097] Step S13, adjusting the position of the mechanical arm: using the operating handle to adjust the position and angle of the mechanical arm so that the mechanical arm can accurately grasp and operate the bucket. The operating system will automatically adjust the selected maintenance tool and the execution action of the maintenance tool according to the position and angle of the mechanical arm.

[0098] Step S14, perform maintenance operation: click the "Start Maintenance" button on the display screen, and the robot arm automatically performs maintenance operation. The maintenance personnel can monitor the maintenance process in real time through the display screen and intervene and adjust the operation as needed.

[0099] Step S15, completing the maintenance task: After the maintenance is completed, the robot arm will automatically stop moving. The maintenance personnel can view the maintenance results on the display screen, and make evaluations and records.

[0100] According to another aspect of the embodiment of the present application, there is also provided a mining resource mining equipment comprising: a mine car and any one of the above-mentioned maintenance devices, the maintenance device being used for real-time status monitoring and automatic maintenance of the bucket of the mine car.

[0101] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiment and its optional implementation manners, which will not be described in detail here.

[0102] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0103] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0105] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0106] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0107] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words contribute to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, ROM, RAM, mobile hard disks, magnetic disks or optical disks.

[0108] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A maintenance device for a mine car bucket, characterized in that: include: A data acquisition module is used to collect real-time data of the mining car bucket, wherein the real-time data includes image data, status data, position data and environmental data; A data analysis module, used for calling a plurality of functional units to analyze the real-time data and determine the fault information and maintenance strategy of the mine car bucket; A path planning module, used for generating an action path of a maintenance action to be performed according to the fault information and the maintenance strategy; The maintenance execution module is used to control the mechanical arm corresponding to the mining car bucket to execute the maintenance action according to the action path.

2. The maintenance device for a mine car bucket according to claim 1, characterized in that: The data acquisition module integrates an image sensor, a state sensor, a position sensor and an environmental sensor. The data acquisition module is also used to store the real-time data and the historical maintenance records corresponding to the mine car bucket in a distributed storage manner.

3. The maintenance device for a mine car bucket according to claim 1, characterized in that: The multiple functional units include: an image recognition unit and a fault diagnosis unit, wherein: The image recognition unit is used to analyze the real-time data using a vector machine, and identify and determine the three-dimensional position of the fault point in the bucket of the mine car from the image data; The fault diagnosis unit is used to perform fault diagnosis based on the three-dimensional position of the fault point and generate the fault information and maintenance strategy.

4. The maintenance device for a mine car bucket according to claim 3, characterized in that: The image recognition unit is used to determine the area of ​​interest from the image data in the real-time data, perform pixel clustering on the area of ​​interest using the position data, determine the pixel position of the mine car bucket, and input the spatial geometric features corresponding to the pixel position into the vector machine for pixel classification and recognition to determine the three-dimensional position of the fault point.

5. The maintenance device for a mine car bucket according to claim 3, characterized in that: The fault diagnosis unit also includes a machine learning model, which is used to use Gabor wavelet functions and hybrid evolutionary algorithms to perform fault diagnosis analysis on the real-time data, historical maintenance records and the three-dimensional position of the fault point, predict the fault information, and generate the maintenance strategy based on the fault information.

6. The maintenance device for a mine car bucket according to claim 1, characterized in that: The path planning module is used to perform path planning based on a rapidly expanding random tree algorithm, the internal space structure of the mine car bucket, the fault information and the operating characteristic model of the robotic arm to obtain the action path, so that the robotic arm reaches the three-dimensional position of the fault point in the mine car bucket when performing the maintenance action along the action path.

7. The maintenance device for a mine car bucket according to claim 1, characterized in that: The maintenance execution module includes an intelligent control unit, which is used to adjust the maintenance action performed by the mechanical arm according to the real-time feedback data corresponding to the mine car bucket.

8. The maintenance device for a mine car bucket according to claim 7, characterized in that: The maintenance execution module is configured with a tool library corresponding to the robotic arm, and the intelligent control unit is further used to select a target maintenance tool from the tool library according to the maintenance strategy, and control the robotic arm to perform the maintenance action using the target maintenance tool.

9. The maintenance device for a mine car bucket according to claim 1, characterized in that: The maintenance device of the mine car bucket also includes a remote monitoring module, which is used to transmit the execution screen signal of the maintenance action to the remote terminal, control the remote terminal to display the execution screen signal through the graphical user interface, and respond to the intervention guidance operation performed on the graphical user interface to adjust the maintenance action.

10. A mining equipment for mining resources, characterized in that: include: A mine car and a maintenance device as described in any one of claims 1 to 9, wherein the maintenance device is used to perform real-time status monitoring and automatic maintenance on the bucket of the mine car.

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