Scheduling method for open pit coal mine vehicles

Abstract

The invention discloses a dispatching method for open pit coal mine vehicles, and belongs to the technical field of coal mine transportation equipment. Comprising the following steps: S1, acquiring positioning data of a mining vehicle; s2, performing mapping processing on the positioning data to obtain mapping data; s3, projecting the mapping data to mine map data to generate a mine vehicle hot area map; s4, generating a mining vehicle scheduling strategy according to the mining vehicle hot area map; and a worker can conveniently and timely master the dynamic distribution and operation condition of the mining vehicle.

Description

Technical Field

[0001] The invention provides a dispatching method for open-pit coal mine vehicles, belonging to the technical field of coal mine transportation equipment. Background Art

[0002] Coal resources still play a leading role in my country's energy supply. The personnel safety issues and the normal operation and control of equipment involved in coal mining have always attracted much attention. As a key link in the coal industry chain, open-pit mine screening plants are responsible for the crushing, screening, transportation, storage and rapid loading of coal. With the expansion of mine scale and the improvement of production efficiency, the demand for vehicle positioning is becoming increasingly urgent. Vehicle positioning technology can track the location of vehicles in real time, improve mine management efficiency, and reduce the risk of safety accidents, which is of great significance to ensuring safe production in mines.

[0003] The working environment of the coal mine screening plant is harsh. Various equipment seriously blocks the transmission of wireless positioning signals. The working areas of mining vehicles are scattered and wide, which makes it difficult to manage the personnel entering the site. It is difficult to timely grasp the situation of the screening plant and the dynamic distribution and operation of mining vehicles. The potential accidents in the site cannot be monitored at any time. The situation of personnel in the potential accident area is difficult to grasp, and the underground personnel cannot be organized to evacuate in time. Once an accident occurs, the existing monitoring system is difficult to monitor the temperature, flammable, toxic and harmful gases, and the location of personnel in the site is difficult to determine, and reliable information cannot be provided for rescue.

[0004] To this end, the mine dispatching system is extremely important. The mine dispatching is an intelligent mine vehicle networking dispatching system that integrates positioning, speed measurement, voice call, and video. The system deploys positioning wireless base stations underground, transmits the positioning wireless base stations to the machine room switch through optical cables, and accesses the ground mine dispatching through the network. The locomotives entering the factory area are equipped with mine vehicle networking dispatching equipment. When this vehicle passes through a workplace covered by a positioning signal, it is immediately recognized by the system, and through the information exchange of the system network, the section and time of the vehicle's passage are transmitted to the security monitoring center for processing, and the information of the passing locomotive is displayed. Each locomotive is equipped with a mine vehicle networking dispatching equipment to realize functions such as positioning speed measurement, voice call dispatching, video dispatching, reversing images, reversing radar ranging, driving records, and black box recording accident reproduction.

[0005] Therefore, providing an effective mining vehicle dispatching solution has become a technical problem that needs to be solved urgently. Summary of the invention

[0006] In order to solve the above problems, the present invention proposes a technical solution: a dispatching method for open-pit coal mine vehicles, comprising the following steps: S1, obtaining positioning data of mining vehicles; S2, mapping the positioning data to obtain mapping data; S3, projecting the mapping data onto mine map data to generate a mining vehicle heat map; S4, generating a mining vehicle dispatching strategy based on the mining vehicle heat map.

[0007] Preferably, in step S1, the positioning data includes: at least one of position data and direction data; the position data includes at least one of altitude, longitude, and latitude data;

[0008] The position data of the mining vehicle is calculated according to the following steps:

[0009] T1, the positioning tag generates positioning data representing the position of the mining vehicle;

[0010] T2, the positioning card reader generates a first detection signal and transmits it to the positioning tag to trigger the positioning tag to send the positioning data and receive the sent positioning data;

[0011] T3, the positioning base station receives the positioning data sent by the positioning card reader and forwards the positioning data;

[0012] T4. The positioning server receives the positioning data sent by the positioning base station, and generates the position data of the mining vehicle according to the positioning data;

[0013] The positioning card reader is installed on the card reader bracket, and the card reader bracket is arranged on the card reader guide rail, and can slide along the card reader guide rail under the drive of the card reader drive motor; the positioning card reader is fixedly connected to the card reader bracket through a universal joint, so that the signal receiving direction can be adjusted along the 360-degree direction; the positioning server is also used to send a clock synchronization signal to the positioning card reader and the positioning base station, so that the positioning card reader, the positioning base station and the positioning server are synchronized with each other;

[0014] The direction data of the mining vehicle is calculated according to the following steps:

[0015] C1. An inertial measurement unit performs inertial measurement on the mining vehicle to obtain inertial measurement data;

[0016] C2, the positioning card reader generates a second detection signal and transmits it to the positioning tag to trigger the positioning tag to send the inertial measurement data, and receive and send the inertial measurement data;

[0017] C3. The positioning base station receives the inertial measurement data sent by the positioning card reader and forwards the inertial measurement data;

[0018] C4. The positioning server receives the inertial measurement data sent by the positioning base station, and generates direction data of the mining vehicle according to the inertial measurement data;

[0019] The positioning base station obtains fused positioning data by fusing the positioning data with the inertial measurement data, and forwards the fused positioning data; the positioning server specifically receives the fused positioning data sent by the positioning base station, and generates the position data and direction data of the mining vehicle according to the fused positioning data; the positioning base station specifically obtains fused positioning data by fusing the positioning data with the inertial measurement data through Kalman filtering, and forwards the fused positioning data; the inertial measurement unit includes at least one of an acceleration sensor and a gyroscope to generate the inertial measurement data, so as to use the inertial measurement data to correct the position data when generating the position data and direction data of the mining vehicle according to the fused positioning data;

[0020] The positioning server generates movement trajectory data of the mining vehicle according to the positioning data; after receiving the positioning data sent according to the first detection signal, the positioning card reader generates a second detection signal and transmits it to the positioning tag again to trigger the positioning tag to send the positioning data again, and receives the positioning data sent again; the positioning server parses the positioning data, determines the timestamps of the positioning tag sending the positioning data to the positioning card reader twice, and generates the location data of the mining vehicle based on the timestamp; the positioning server generates the location data of the mining vehicle based on the timestamp and the transmission speed of the positioning data.

[0021] Preferably, in step S2, the specific method is: based on the set mapping model, coordinate transformation processing is performed on the positioning data to obtain coordinate mapping data matching the mine map data.

[0022] Preferably, in step S3, a picture floating layer is created on the mining vehicle heat zone map to load and display the information of the mining vehicle in the picture floating layer, and the information of the mining vehicle includes: positioning time, dispatch time, operation description, equipment type, and at least one of the person in charge of the operation.

[0023] Preferably, in step S4, the specific method is: SS1, generating a hot zone position matrix according to the mining vehicle hot zone map; SS2, generating a path space model according to the hot zone position matrix and the transportation data of the mining vehicle linkage; SS3, determining the optional planned paths of the mining vehicle from the starting point to the destination point according to the path space model; SS4, calculating the path cost value of each of the optional planned paths; SS5, generating a mining vehicle scheduling strategy according to the path cost value.

[0024] Preferably, in step SS1, the hot zone position matrix includes the location node density of the mining vehicle, and the location node density reflects the usage frequency of the location of the mining vehicle.

[0025] Preferably, in step SS3, the specific method is: first, creating a path space map according to the path space model; and then determining the optional planned path of the mining vehicle from the starting point to the destination point according to the path space map.

[0026] Preferably, the path space model includes a directed space model and an undirected space model, and correspondingly, the path space graph includes a directed vector graph and an undirected vector graph.

[0027] Beneficial effects of the present invention:

[0028] The present application provides an effective method for dispatching mining vehicles, which obtains the positioning data of mining vehicles, maps the positioning data, and projects the obtained mapping data onto the mine map data to generate a mining vehicle heat zone map; then, based on the mining vehicle heat zone map, a mining vehicle dispatching strategy is generated to facilitate staff to timely grasp the dynamic distribution and operation status of mining vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The present invention is a flow chart of a method for dispatching vehicles in an open-pit coal mine. DETAILED DESCRIPTION

[0030] The present invention is further described below in conjunction with the accompanying drawings.

[0031] according to Figure 1 As shown: The present invention provides a method for dispatching vehicles in open-pit coal mines: comprising S1, acquiring positioning data of mining vehicles; S2, mapping the positioning data to obtain mapping data; S3, projecting the mapping data onto mine map data to generate a mining vehicle heat map; S4, generating a mining vehicle dispatching strategy based on the mining vehicle heat map.

[0032] In step S1, the positioning data includes: at least one of the position data and the direction data; the position data includes at least one of the altitude, longitude and latitude data; based on the above positioning data, the accuracy of positioning is guaranteed, and further, when the mining vehicle scheduling strategy is generated in the subsequent steps, the reliability of the mining vehicle scheduling strategy is guaranteed to avoid strategy collisions.

[0033] The position data of the mining vehicle is calculated according to the following steps:

[0034] T1, the positioning tag generates positioning data representing the position of the mining vehicle;

[0035] T2, the positioning card reader generates a first detection signal and transmits it to the positioning tag to trigger the positioning tag to send the positioning data and receive the sent positioning data;

[0036] T3, the positioning base station receives the positioning data sent by the positioning card reader and forwards the positioning data;

[0037] T4. The positioning server receives the positioning data sent by the positioning base station, and generates the position data of the mining vehicle according to the positioning data;

[0038] The positioning card reader is installed on the card reader bracket, and the card reader bracket is arranged on the card reader guide rail, and can slide along the card reader guide rail under the drive of the card reader drive motor; by arranging the positioning card reader to be installed on the card reader bracket, and the card reader bracket is arranged on the card reader guide rail, the positioning card reader can slide along the card reader guide rail under the drive of the card reader drive motor, thereby effectively ensuring that the first detection signal generated by it is transmitted to the positioning tag to trigger the positioning tag to send the positioning data, and receive and send the positioning data, avoiding the first detection signal generated from being unable to be transmitted to the positioning tag, resulting in the inability to trigger the positioning tag to send the positioning data, and further being able to receive the positioning data sent by the positioning tag, which is equivalent to avoiding the loss or omission of the signal, resulting in the inability to receive the positioning data, and the inability to realize the positioning of the mining vehicle by the positioning server.

[0039] The positioning card reader is fixedly connected to the card reader bracket via a universal joint so that the signal receiving direction can be adjusted along a 360-degree direction; based on the universal joint, the positioning card reader can be adjusted 360 degrees in the direction, thereby ensuring that there are multiple alternative signal receiving directions, and at least one signal receiving direction can be found, which can ensure that the positioning card reader can receive and send the positioning data, as well as receive and send the positioning data.

[0040] The positioning server is also used to send a clock synchronization signal to the positioning card reader and the positioning base station so that the clocks of the positioning card reader, the positioning base station and the positioning server are synchronized. Based on the above clock synchronization signal, the clock synchronization among the positioning card reader, the positioning base station and the positioning server is achieved, ensuring that there will be no clock errors among the positioning card reader, the positioning base station and the positioning server, avoiding the need for subsequent clock synchronization processing when the positioning server generates the position data of the mining vehicle based on the positioning data, thereby improving the efficiency of data processing and ensuring the accuracy of the position data.

[0041] The direction data of the mining vehicle is calculated according to the following steps:

[0042] C1. An inertial measurement unit performs inertial measurement on the mining vehicle to obtain inertial measurement data;

[0043] C2, the positioning card reader generates a second detection signal and transmits it to the positioning tag to trigger the positioning tag to send the inertial measurement data, and receive and send the inertial measurement data;

[0044] C3. The positioning base station receives the inertial measurement data sent by the positioning card reader and forwards the inertial measurement data;

[0045] C4. The positioning server receives the inertial measurement data sent by the positioning base station, and generates direction data of the mining vehicle according to the inertial measurement data; on the basis of determining the position data, the direction data can be determined based on the inertial measurement data, thereby improving the positioning accuracy.

[0046] The positioning base station obtains fused positioning data by fusing the positioning data with the inertial measurement data, and forwards the fused positioning data; the positioning server specifically receives the fused positioning data sent by the positioning base station, and generates the position data and direction data of the mining vehicle according to the fused positioning data; the positioning base station specifically obtains fused positioning data by fusing the positioning data with the inertial measurement data through Kalman filtering, and forwards the fused positioning data; fusion is achieved based on the above-mentioned Kalman filtering, which improves the efficiency of fusion and avoids data loss, thereby ensuring the accuracy of the fused positioning data and improving the accuracy of positioning.

[0047] The inertial measurement unit includes at least one of an acceleration sensor and a gyroscope to generate the inertial measurement data, so that when the position data and direction data of the mining vehicle are generated according to the fused positioning data, the inertial measurement data is used to correct the position data; by correcting the position data through the inertial measurement data, the positioning accuracy is improved.

[0048] The positioning server generates the movement track data of the mining vehicle according to the positioning data; by generating the movement track data as described above, the mining vehicle can be dynamically monitored to improve the dynamic performance of positioning. After receiving the positioning data sent according to the first detection signal, the positioning card reader generates a second detection signal and transmits it to the positioning tag again to trigger the positioning tag to send the positioning data again, and receives the positioning data sent again; the positioning server parses the positioning data, determines the timestamp of the positioning tag sending the positioning data to the positioning card reader twice, and generates the location data of the mining vehicle based on the timestamp; since the reliability of the timestamp is high, the accuracy of the location data can be improved based on the timestamp. The positioning server generates the location data of the mining vehicle based on the timestamp and the transmission speed of the positioning data. Based on the timestamp and the transmission speed, the algorithm for calculating the location data can be simplified, the efficiency of the calculation can be improved, and the real-time response of safety maintenance can be guaranteed.

[0049] In step S2, the specific method is: based on the set mapping model, coordinate transformation processing is performed on the positioning data to obtain coordinate mapping data that matches the mine map data. By implementing the coordinate change processing based on the set mapping model, it can be ensured that when the mapping data is projected onto the mine map data, a high degree of coupling between the mapping data and the mine map data is achieved, and the mining vehicle can be accurately positioned based on the mine map data.

[0050] In step S3, a picture floating layer is created on the mining vehicle heat map to load and display the information of the mining vehicle in the picture floating layer, and the information of the mining vehicle includes: positioning time, dispatch time, operation description, equipment type, and at least one of the person in charge of the operation. Based on the above picture floating layer, the information of the mining vehicle can be loaded and displayed, which is convenient for judging the rationality of the mining vehicle scheduling strategy based on historical scheduling experience, and further determining whether the mining vehicle scheduling strategy needs to be optimized twice.

[0051] In step S4, the specific method is: SS1, generating a hot zone position matrix according to the mining vehicle hot zone map; SS2, generating a path space model according to the hot zone position matrix and the transportation data of the mining vehicle; SS3, determining the optional planned path from the starting point to the destination point of the mining vehicle according to the path space model, thereby ensuring that the generated mining vehicle scheduling strategy is as globally optimal as possible; SS4, calculating the path cost value of each of the optional planned paths; SS5, generating a mining vehicle scheduling strategy according to the path cost value.

[0052] In step SS1, the hot zone position matrix includes the position node density of the mining vehicle, and the position node density reflects the usage frequency of the location of the mining vehicle. Specifically, the position node density can be represented by two-dimensional data.

[0053] In step SS3, the specific method is: first, create a path space map according to the path space model; then, determine the optional planning path of the mining vehicle from the starting point to the destination point according to the path space map. The path space model includes a directed space model and an undirected space model, and correspondingly, the path space map includes a directed vector map and an undirected vector map.

[0054] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. A method for dispatching vehicles in an open-pit coal mine, characterized in that: The following steps are involved: S1, obtaining the positioning data of the mining vehicle; S2, performing mapping processing on the positioning data to obtain mapping data; S3, projecting the mapping data onto the mine map data to generate a mining vehicle heat map; S4, generating a mining vehicle dispatching strategy based on the mining vehicle heat map.

2. The method for dispatching vehicles in an open-pit coal mine according to claim 1, characterized in that: In step S1, the positioning data includes: at least one of position data and direction data; the position data includes at least one of altitude, longitude, and latitude data; The position data of the mining vehicle is calculated according to the following steps: T1, the positioning tag generates positioning data representing the position of the mining vehicle; T2, the positioning card reader generates a first detection signal and transmits it to the positioning tag to trigger the positioning tag to send the positioning data and receive the sent positioning data; T3, the positioning base station receives the positioning data sent by the positioning card reader and forwards the positioning data; T4. The positioning server receives the positioning data sent by the positioning base station, and generates the position data of the mining vehicle according to the positioning data; The positioning card reader is installed on the card reader bracket, and the card reader bracket is arranged on the card reader guide rail, and can slide along the card reader guide rail under the drive of the card reader drive motor; the positioning card reader is fixedly connected to the card reader bracket through a universal joint, so that the signal receiving direction can be adjusted along the 360-degree direction; the positioning server is also used to send a clock synchronization signal to the positioning card reader and the positioning base station, so that the positioning card reader, the positioning base station and the positioning server are synchronized with each other; The direction data of the mining vehicle is calculated according to the following steps: C1. An inertial measurement unit performs inertial measurement on the mining vehicle to obtain inertial measurement data; C2, the positioning card reader generates a second detection signal and transmits it to the positioning tag to trigger the positioning tag to send the inertial measurement data, and receive and send the inertial measurement data; C3. The positioning base station receives the inertial measurement data sent by the positioning card reader and forwards the inertial measurement data; C4. The positioning server receives the inertial measurement data sent by the positioning base station, and generates direction data of the mining vehicle according to the inertial measurement data; The positioning base station obtains fused positioning data by fusing the positioning data with the inertial measurement data, and forwards the fused positioning data; the positioning server specifically receives the fused positioning data sent by the positioning base station, and generates the position data and direction data of the mining vehicle according to the fused positioning data; the positioning base station specifically obtains fused positioning data by fusing the positioning data with the inertial measurement data through Kalman filtering, and forwards the fused positioning data; the inertial measurement unit includes at least one of an acceleration sensor and a gyroscope to generate the inertial measurement data, so as to use the inertial measurement data to correct the position data when generating the position data and direction data of the mining vehicle according to the fused positioning data; The positioning server generates movement trajectory data of the mining vehicle according to the positioning data; after receiving the positioning data sent according to the first detection signal, the positioning card reader generates a second detection signal and transmits it to the positioning tag again to trigger the positioning tag to send the positioning data again, and receives the positioning data sent again; the positioning server parses the positioning data, determines the timestamps of the positioning tag sending the positioning data to the positioning card reader twice, and generates the location data of the mining vehicle based on the timestamp; the positioning server generates the location data of the mining vehicle based on the timestamp and the transmission speed of the positioning data.

3. The method for dispatching vehicles in an open-pit coal mine according to claim 1, characterized in that: In step S2, the specific method is: based on the set mapping model, coordinate transformation processing is performed on the positioning data to obtain coordinate mapping data matching the mine map data.

4. The method for dispatching vehicles in an open-pit coal mine according to claim 1, characterized in that: In step S3, a picture floating layer is created on the mining vehicle heat zone map to load and display the information of the mining vehicle in the picture floating layer, and the information of the mining vehicle includes: positioning time, dispatch time, operation description, equipment type, and at least one of the person in charge of the operation.

5. The method for dispatching vehicles in an open-pit coal mine according to claim 1, characterized in that: In step S4, the specific method is: SS1, generating a hot zone position matrix according to the mining vehicle hot zone map; SS2, generating a path space model according to the hot zone position matrix and the transportation data of the mining vehicle; SS3. Determine an optional planned path for the mining vehicle from a starting point to a destination point according to the path space model; SS4. Calculate the path cost of each of the optional planned paths; SS5. Generate a mining vehicle dispatching strategy based on the path cost.

6. The method for dispatching vehicles in an open-pit coal mine according to claim 5, characterized in that: In step SS1, the hot zone position matrix includes the location node density of the mining vehicle, and the location node density reflects the usage frequency of the location of the mining vehicle.

7. The method for dispatching vehicles in an open-pit coal mine according to claim 5, characterized in that: In step SS3, the specific method is: first, create a path space map according to the path space model; then, determine the optional planned path of the mining vehicle from the starting point to the destination point according to the path space map.

8. The method for dispatching vehicles in an open-pit coal mine according to claim 7, characterized in that: The path space model includes a directed space model and an undirected space model, and correspondingly, the path space graph includes a directed vector graph and an undirected vector graph.

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