Linkage control method, device and system based on unmanned excavator and unmanned mine card
By acquiring and analyzing the geological environment data of the goaf and real-time data of unmanned excavators and unmanned mining cards, and dynamically adjusting their operation data, the problem of unmanned excavators and unmanned mining in the safety control of goaf is solved, and the balance between intelligent mining and safe production is achieved.
Patent Information
- Application Number
- CN202510291709.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-12
- Publication Date
- 2025-06-13
AI Technical Summary
During the underground mining process of mines, the existence of goaf poses a major threat to operational safety. How to achieve the linkage control of unmanned excavators and unmanned mining cards while taking into account the safety of goaf has become an urgent problem.
By obtaining the geological environment data of the goaf, the real-time attitude data of the unmanned excavator and the real-time positioning data of the unmanned mining card, the operation data of the unmanned excavator and the unmanned mining card are adjusted according to the pre-stored correspondence to achieve dynamic linkage control.
It effectively improves the automation level of unmanned excavators and unmanned mining cards, realizes "unmanned" intelligent mining of goafs, ensures safe mining and efficient production of mines, and achieves a dynamic balance between increasing output and ensuring the safety of goafs.
Smart Images
Figure CN120143830A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present application relate to the technical field of intelligent device linkage control, and in particular, to a linkage control method, device, and system based on an unmanned excavator and an unmanned mining truck. Background Art
[0002] With the continuous progress of mining technology and the increasing demand for automation and intelligence, unmanned excavators and unmanned mining trucks are increasingly widely used in mine operations. During the underground mining process of a mine, the weight of the overlying rock layer originally borne by the ore will be pressed onto the rock walls around the goaf, which may cause the rock walls to be crushed under pressure. It can be seen that the existence of the goaf poses a major threat to operation safety. Therefore, how to achieve the linkage control of an unmanned excavator and an unmanned mining truck while considering the safety of the goaf has become an urgent problem to be solved currently. Summary of the Invention
[0003] Based on this, it is necessary to provide a linkage control method, device, and system based on an unmanned excavator and an unmanned mining truck for the above technical problems.
[0004] In a first aspect, the embodiments of the present application provide a linkage control method based on an unmanned excavator and an unmanned mining truck. The linkage control method based on an unmanned excavator and an unmanned mining truck includes: obtaining geological environment data of a goaf, real-time attitude data of the unmanned excavator, and real-time positioning data of the unmanned mining truck;
[0005] Adjusting the real-time attitude data of the unmanned excavator to target attitude data according to a pre-stored first correspondence relationship and the geological environment data;
[0006] Determining target positioning data of the unmanned mining truck according to a pre-stored second correspondence relationship and the target attitude data;
[0007] Determining a target movement trajectory of the unmanned mining truck according to a pre-stored third correspondence relationship, the geological environment data, the real-time positioning data of the unmanned mining truck, and the target positioning data;
[0008] Controlling the unmanned mining truck to move to the position indicated by the target positioning data according to the target movement trajectory;
[0009] Wherein, the first correspondence relationship is used to indicate the correspondence relationship between geological environment data and the attitude data of the excavator, the second correspondence relationship is used to indicate the correspondence relationship between the attitude data of the excavator and the positioning data of the mining truck, and the third correspondence relationship is used to indicate the correspondence relationship between geological environment data, the positioning data of the mining truck, and the movement trajectory of the mining truck.
[0010] As an alternative implementation, in the first aspect of the embodiments of the present application, adjusting the real-time attitude data of the unmanned excavator to target attitude data according to the pre-stored first correspondence relationship and the geological environment data includes:
[0011] Determining the target attitude data of the unmanned excavator according to the pre-stored first correspondence relationship and the geological environment data;
[0012] Determining the target excavator position and target boom movement of the unmanned excavator according to the target attitude data;
[0013] Adjusting the moving direction and moving speed of the unmanned excavator according to the target excavator position;
[0014] Adjusting the excavation point of the unmanned excavator according to the target boom movement.
[0015] As an alternative implementation, in the first aspect of the embodiments of the present application, after adjusting the real-time attitude data of the unmanned excavator to target attitude data according to the pre-stored first correspondence relationship and the geological environment data, the method further includes:
[0016] Calculating the single mining stripping volume of the unmanned excavator according to the target attitude data.
[0017] As an alternative implementation, in the first aspect of the embodiments of the present application, the method further includes:
[0018] Controlling the unmanned excavator to perform excavation and placing the excavated minerals into the cargo box of the unmanned haul truck;
[0019] Real-time monitoring of the cargo load of the cargo box of the unmanned haul truck;
[0020] When it is detected that the cargo load of the cargo box exceeds the preset cargo load threshold, controlling the unmanned excavator to stop excavation.
[0021] As an alternative implementation, in the first aspect of the embodiments of the present application, the method further includes:
[0022] Real-time monitoring of the influence value of the geological environment data of the goaf;
[0023] When it is detected that the influence value of the geological environment data exceeds the safety threshold, controlling the unmanned excavator to stop excavation and outputting a warning message of geological environment instability in the goaf.
[0024] As an alternative implementation, in the first aspect of the embodiments of the present application, the method further includes:
[0025] Determine the operable excavator positions and the diggable excavation points of the unmanned excavator according to the geological environment data;
[0026] Determine the operable excavator position intervals and the diggable excavation point intervals of the unmanned excavator according to the first correspondence, the operable excavator positions of the unmanned excavator, and the diggable excavation points;
[0027] Determine the predicted values of the influence of the geological environment data corresponding to the excavator position intervals and the excavation point intervals respectively according to the database;
[0028] Determine the target attitude data of the unmanned excavator according to the comparison result between the predicted value of the influence of the geological environment data and the safety threshold.
[0029] In a second aspect, an embodiment of the present application provides a linkage control device based on an unmanned excavator and an unmanned mining truck. The linkage control device based on the unmanned excavator and the unmanned mining truck includes:
[0030] An acquisition module, configured to acquire the geological environment data of the goaf, the real-time attitude data of the unmanned excavator, and the real-time positioning data of the unmanned mining truck;
[0031] A processing module, configured to adjust the real-time attitude data of the unmanned excavator to target attitude data according to a pre-stored first correspondence and the geological environment data;
[0032] The processing module is further configured to determine the target positioning data of the unmanned mining truck according to a pre-stored second correspondence and the target attitude data;
[0033] The processing module is further configured to determine the target movement trajectory of the unmanned mining truck according to a pre-stored third correspondence, the geological environment data, the real-time positioning data of the unmanned mining truck, and the target positioning data;
[0034] The processing module is further configured to control the unmanned mining truck to move to the position indicated by the target positioning data along the target movement trajectory;
[0035] Wherein, the first correspondence is used to indicate the correspondence between the geological environment data and the attitude data of the excavator, the second correspondence is used to indicate the correspondence between the attitude data of the excavator and the positioning data of the mining truck, and the third correspondence is used to indicate the correspondence between the geological environment data, the positioning data of the mining truck, and the movement trajectory of the mining truck.
[0036] In a third aspect, an embodiment of the present application provides a linkage control system based on an unmanned excavator and an unmanned mining truck. The linkage control system based on the unmanned excavator and the unmanned mining truck includes:
[0037] The goaf roadside device is used to obtain the geological environment data of the goaf and send it to the unmanned driving cloud platform;
[0038] The excavator attitude detection device is used to obtain the real-time attitude data of the unmanned excavator and send it to the unmanned driving cloud platform;
[0039] The mining truck positioning device is used to obtain the real-time positioning data of the unmanned mining truck and send it to the unmanned driving cloud platform;
[0040] The unmanned driving cloud platform is used to obtain the geological environment data of the goaf sent by the goaf roadside device, the real-time attitude data of the unmanned excavator sent by the excavator attitude detection device, and the real-time positioning data of the unmanned mining truck sent by the mining truck positioning device;
[0041] The unmanned excavator attitude database is used to store and update the first corresponding relationship;
[0042] The unmanned driving cloud platform is also used to adjust the real-time attitude data of the unmanned excavator to target attitude data according to the first corresponding relationship pre-stored in the unmanned excavator attitude database and the geological environment data;
[0043] The unmanned mining truck positioning database is used to store and update the second corresponding relationship;
[0044] The unmanned driving cloud platform is also used to determine the target positioning data of the unmanned mining truck according to the second corresponding relationship pre-stored in the unmanned mining truck positioning database and the target attitude data;
[0045] The unmanned mining truck trajectory database is used to store and update the third corresponding relationship;
[0046] The unmanned driving cloud platform is also used to determine the target movement trajectory of the unmanned mining truck according to the third corresponding relationship pre-stored in the unmanned mining truck trajectory database, the geological environment data, the real-time positioning data of the unmanned mining truck, and the target positioning data;
[0047] The unmanned driving cloud platform is also used to control the unmanned mining truck to move to the position indicated by the target positioning data according to the target movement trajectory;
[0048] Among them, the first corresponding relationship is used to indicate the corresponding relationship between the geological environment data and the attitude data of the excavator, the second corresponding relationship is used to indicate the corresponding relationship between the attitude data of the excavator and the positioning data of the mining truck, and the third corresponding relationship is used to indicate the corresponding relationship between the geological environment data, the positioning data of the mining truck, and the movement trajectory of the mining truck.
[0049] Fourthly, an embodiment of the present application provides an electronic device, which includes:
[0050] A memory storing executable program code;
[0051] A processor coupled to the memory;
[0052] The processor calls the executable program code stored in the memory and executes the linkage control method based on the unmanned excavator and the unmanned mining truck in the first aspect of the embodiment of the present application.
[0053] Fifthly, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program enables a computer to execute the linkage control method based on the unmanned excavator and the unmanned mining truck in the first aspect of the embodiment of the present application. The computer-readable storage medium includes ROM / RAM, a magnetic disk, an optical disc, etc.
[0054] Sixthly, an embodiment of the present application provides a computer program product, when the computer program product runs on a computer, it enables the computer to execute some or all of the steps of any one of the methods in the first aspect.
[0055] Seventhly, an embodiment of the present application provides an application publishing platform, which is used to publish a computer program product. When the computer program product runs on a computer, it enables the computer to execute some or all of the steps of any one of the methods in the first aspect.
[0056] Compared with the prior art, the embodiment of the present application has the following beneficial effects:
[0057] An embodiment of the present application provides a linkage control method, device, and system based on an unmanned excavator and an unmanned mining truck, which acquire geological environment data of a goaf, real-time attitude data of the unmanned excavator, and real-time positioning data of the unmanned mining truck; adjust the real-time attitude data of the unmanned excavator to target attitude data according to a pre-stored first correspondence relationship and the geological environment data; determine the target positioning data of the unmanned mining truck according to a pre-stored second correspondence relationship and the target attitude data; determine the target movement trajectory of the unmanned mining truck according to a pre-stored third correspondence relationship, the geological environment data, the real-time positioning data of the unmanned mining truck, and the target positioning data; control the unmanned mining truck to move to the position indicated by the target positioning data along the target movement trajectory; wherein, the first correspondence relationship is used to indicate the correspondence relationship between the geological environment data and the attitude data of the excavator, the second correspondence relationship is used to indicate the correspondence relationship between the attitude data of the excavator and the positioning data of the mining truck, and the third correspondence relationship is used to indicate the correspondence relationship between the geological environment data, the positioning data of the mining truck, and the movement trajectory of the mining truck. In this solution, through the acquired geological environment data of the goaf, the attitude data of the unmanned excavator, the positioning data of the unmanned mining truck, and the trajectory data of the unmanned mining truck, according to the actual working conditions in the mining process, considering the mutual influence and restriction relationships among various parameters, the unmanned excavator and the unmanned mining truck are dynamically and linkably controlled. In addition, the automation level of the unmanned excavator and the unmanned mining truck is effectively improved, and the "unmanned" intelligent mining of the goaf is realized, thereby providing technical support for the safe mining and efficient production of the mine, and achieving a dynamic balance between increasing production and ensuring the safety of the goaf. BRIEF DESCRIPTION OF THE DRAWINGS
[0058] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.
[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0060] Figure 1 is a flowchart showing a linkage control method based on an unmanned excavator and an unmanned mining truck provided by an embodiment of the present application Figure 1 ;
[0061] Figure 2 is a flowchart showing a linkage control method based on an unmanned excavator and an unmanned mining truck provided by an embodiment of the present application Figure 2 ;
[0062] Figure 3It is a schematic structural diagram of a linkage control device based on an unmanned excavator and an unmanned mining truck provided by an embodiment of the present application;
[0063] Figure 4 It is a schematic structural diagram of a linkage control system based on an unmanned excavator and an unmanned mining truck provided by an embodiment of the present application;
[0064] Figure 5 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners
[0065] In order to more clearly understand the above objects, features and advantages of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.
[0066] The terms "first" and "second" etc. in the specification and claims of the present application are used to distinguish different objects, rather than to describe a specific order of the objects.
[0067] The terms "including" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these process, method, product or device.
[0068] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific manner.
[0069] A goaf refers to the cavity area formed after the ore is mined out during underground mining. These areas are usually located at the positions where the underground ore layers are mined. As the ore is mined, the space originally supported by the ore becomes empty, forming a goaf.
[0070] In the mining of coal mines, metal mines and other mines, goafs are a common phenomenon. Since the ore is mined out, the weight of the overlying strata originally borne by the ore will press on the surrounding rock walls of the goaf, which may cause the rock walls to be crushed under pressure, and then hazards such as roof falls may occur. In addition, the goaf may also accumulate water due to the influx of groundwater, posing a threat to mine production and safety.
[0071] To address the problems brought about by goafs, mining enterprises usually take some measures to manage and maintain goafs. For example, the filling method may be adopted, using appropriate filling materials to fill the goaf to support the overlying strata and prevent roof falls and surface collapses. In addition, the caving method can also be used to eliminate potential hazards by artificially caving the rocks around the goaf. In some cases, mining enterprises may also choose to seal the goaf to prevent people from entering and reduce potential safety risks.
[0072] Generally speaking, goafs are an inevitable phenomenon in the mining process, but through reasonable management and maintenance measures, their impact on mine production and safety can be effectively reduced.
[0073] An unmanned excavator, that is, an excavator without a driver, is an intelligent device that can perform material loading tasks for a long time without manual intervention. The "brain" of the unmanned excavator, the control system, is responsible for receiving operation instructions and controlling the various actions of the excavator. It usually includes components such as sensors, controllers and actuators. The sensors are responsible for real-time monitoring of parameters such as the attitude, position and speed of the excavator, and transmitting this information to the controller. The controller calculates the next action instructions for the excavator based on the preset program and the received real-time information, and drives the hydraulic system to complete the corresponding actions through the actuators.
[0074] Unmanned excavators can operate continuously and efficiently, without being restricted by human fatigue and rest time. Especially in scenarios that require long-term continuous operation, the efficiency advantage of unmanned excavators is particularly obvious. In dangerous or harsh working environments, unmanned excavators can reduce the chance of personnel being exposed to danger, thereby reducing the risk of casualties. At the same time, through precise control systems and sensor technologies, unmanned excavators can ensure safety and accuracy during the operation process. Unmanned excavators adopt advanced sensor technologies and AI algorithms, and can achieve high-precision positioning and excavation operations. This helps to improve the engineering quality and reduce material waste. With the emergence of electric unmanned excavators, this feature has become even more obvious. Electric unmanned excavators use batteries or fuel cells as power sources, and have the characteristics of zero emissions and low noise, which helps to improve the air quality at the construction site.
[0075] An unmanned mining truck is a new type of transportation tool that has developed rapidly in the mining industry in recent years. It uses unmanned driving technology to achieve intelligent and unmanned mining in mines. Through advanced technical means such as sensors, control systems, and actuators, it realizes functions such as unmanned driving, autonomous navigation, intelligent obstacle avoidance, and remote monitoring. It does not require manual operation, reducing labor costs and safety risks. Through high-precision maps and positioning technology, it realizes the autonomous driving and path planning of mining trucks. Using sensors such as lidar, millimeter-wave radar, and visual recognition, it monitors the surrounding environment in real time to avoid collisions and accidents. Through the cloud management platform, it realizes the remote monitoring and dispatching of mining trucks, improving operational efficiency.
[0076] As Figure 1 shown, Figure 1 The figure is a flowchart of a linkage control method based on an unmanned excavator and an unmanned mining truck provided by an embodiment of the present application. The method may include the following steps:
[0077] 101. Obtain the geological environment data of the goaf, the real-time attitude data of the unmanned excavator, and the real-time positioning data of the unmanned mining truck.
[0078] In the embodiment of the present application, the geological environment data may specifically include: sonar data, infrared data, water accumulation data, cavity data, etc. The geological environment data is mainly used to indicate the geological conditions of the goaf to ensure the safe movement and safe operation of the subsequent unmanned excavator and unmanned mining truck.
[0079] In some embodiments, the geological environment data of the goaf may be detected by a goaf roadside device set in the goaf. The goaf roadside device may specifically include a variety of sensors; the real-time attitude data of the unmanned excavator may be detected by an excavator attitude detection device set on the unmanned excavator; the real-time positioning data of the unmanned mining truck may be detected by a mining truck positioning device set on the unmanned mining truck.
[0080] It should be noted that since the excavation attitude and excavation position of the unmanned excavator need to be determined according to geological data, and the position of the unmanned mining truck needs to be determined according to the excavation attitude and excavation position of the unmanned excavator, it is necessary to first determine the real-time attitude data of the unmanned excavator and the real-time positioning data of the unmanned mining truck to facilitate subsequent attitude adjustment for the unmanned excavator and position adjustment for the unmanned mining truck.
[0081] 102. According to the pre-stored first correspondence relationship and the geological environment data, adjust the real-time attitude data of the unmanned excavator to target attitude data.
[0082] In the embodiment of the present application, the first corresponding relationship is used to indicate the corresponding relationship between the geological environment data and the attitude data of the excavator. The first corresponding relationship can be pre-stored and can be in the form of a table, a function form, etc. During the mining process of the driverless excavator, it will have an impact on the geological environment of the mined-out area. If this impact exceeds the safety impact threshold, the driverless excavator needs to adjust its attitude to avoid the occurrence of collapses and landslides in the mined-out area. Therefore, there is a certain corresponding relationship between the attitude data of the driverless excavator and the geological environment data of the mined-out area. The first corresponding relationship can be obtained and stored in advance through methods such as model calculation or on-site testing. In this way, in practical applications, after obtaining the geological environment data, the target attitude data corresponding to the geological environment data can be directly obtained through the first corresponding relationship, and the real-time attitude data of the driverless excavator can be adjusted to the target attitude data.
[0083] 103. Determine the target positioning data of the driverless haul truck according to the pre-stored second corresponding relationship and the target attitude data.
[0084] In the embodiment of the present application, the second corresponding relationship is used to indicate the corresponding relationship between the attitude data of the excavator and the positioning data of the haul truck. The second corresponding relationship can be pre-stored and can be in the form of a table, a function form, etc. Since during the working process of the driverless excavator and the driverless haul truck, the driverless excavator needs to place the excavated minerals into the cargo box of the driverless haul truck, the driverless haul truck needs to move to a position that can be reached by the bucket of the driverless excavator. Therefore, the driverless haul truck needs to move its position as the attitude of the driverless excavator changes. That is to say, there is a certain corresponding relationship between the positioning data of the driverless haul truck and the attitude data of the driverless excavator. The second corresponding relationship can be obtained and stored in advance through methods such as model calculation or on-site testing. In this way, in practical applications, after obtaining the target attitude data of the driverless excavator, the target positioning data corresponding to the target attitude data can be directly obtained through the second corresponding relationship. The target positioning data can be understood as the position data that the driverless haul truck needs to reach.
[0085] 104. Determine the target movement trajectory of the driverless haul truck according to the pre-stored third corresponding relationship, the geological environment data, the real-time positioning data and the target positioning data of the driverless haul truck.
[0086] In the embodiment of the present application, the third corresponding relationship is used to indicate the corresponding relationship among geological environment data, positioning data of the mining truck, and the movement trajectory of the mining truck. The third corresponding relationship can be pre-stored and can be in the form of a table, a function, etc. During the working process of the driverless mining truck, when it needs to move from the current real-time position to the position indicated by the target positioning data, it is necessary to consider the geological environment of the goaf to avoid danger. That is to say, there is a certain corresponding relationship among the movement trajectory of the driverless mining truck, geological environment data, real-time positioning data, and target positioning data. Therefore, the third corresponding relationship can be obtained and stored in advance through methods such as model calculation or actual scene testing. In actual application, after obtaining the target positioning data, the target movement trajectory of the driverless mining truck corresponding to the geological environment data, real-time positioning data, and target positioning data can be obtained through the third corresponding relationship.
[0087] 105. Control the driverless mining truck to move to the position indicated by the target positioning data according to the target movement trajectory.
[0088] In the embodiment of the present application, after obtaining the target movement trajectory, the driverless mining truck can move to the position indicated by the target positioning data according to the target movement trajectory.
[0089] In some embodiments, the movement of the driverless mining truck is controlled by a driverless mining truck controller assembled on the driverless mining truck, and the driverless mining truck controller can receive movement instructions.
[0090] In some embodiments, after the driverless mining truck moves to the position indicated by the target positioning data, the driverless excavator and the driverless mining truck can start coordinated operations. The driverless excavator first performs excavation and loads the excavated minerals into the cargo box of the driverless mining truck. Of course, the cargo box also has a limited weight, and it cannot continue to be loaded after loading a certain weight of minerals. Therefore, the cargo load of the cargo box of the driverless mining truck can be monitored in real time; when it is detected that the cargo load of the cargo box exceeds the preset cargo load threshold, control the driverless excavator to stop excavation.
[0091] In some embodiments, a cargo load detection device can be assembled in the cargo box of the driverless mining truck. The cargo load detection device can be used to detect the cargo load of the cargo box of the driverless mining truck in real time. The preset cargo load threshold can be the maximum load capacity of the cargo box within the pre-set safe range. When the cargo load detection device monitors that the current cargo load in the cargo box reaches the preset cargo load threshold, a warning message can be output, so that the driverless excavator can stop excavation.
[0092] An embodiment of the present application provides a linkage control method based on an unmanned excavator and an unmanned mining truck. By obtaining the geological environment data of the mined - out area, the attitude data of the unmanned excavator, the positioning data of the unmanned mining truck, and the trajectory data of the unmanned mining truck, according to the actual working conditions in the mining process, considering the mutual influence and restriction relationships among various parameters, the unmanned excavator and the unmanned mining truck are dynamically and linkably controlled. In addition, the automation level of the unmanned excavator and the unmanned mining truck is effectively improved, and the "unmanned" intelligent mining of the mined - out area is realized, thereby providing technical support for the safe mining and efficient production of the mine, and achieving a dynamic balance between increasing production and ensuring the safety of the mined - out area.
[0093] As Figure 2 shown, Figure 2 FIG. is a flowchart of a linkage control method based on an unmanned excavator and an unmanned mining truck provided by an embodiment of the present application. The method may further include the following steps:
[0094] 201. Obtain the geological environment data of the mined - out area, the real - time attitude data of the unmanned excavator, and the real - time positioning data of the unmanned mining truck.
[0095] In the embodiment of the present application, for the description of step 201, please refer to the detailed description of step 101 in the above - mentioned embodiment, and the embodiment of the present application will not repeat it.
[0096] 202. Determine the target attitude data of the unmanned excavator according to the pre - stored first correspondence relationship and the geological environment data.
[0097] In the embodiment of the present application, since the first correspondence relationship can be used to indicate the correspondence relationship between the geological environment data and the attitude data of the excavator, after obtaining the geological environment data, the target attitude data of the unmanned excavator corresponding to the geological environment data can be directly obtained according to the first correspondence relationship.
[0098] 203. Determine the target excavator position and the target excavator arm movement of the unmanned excavator according to the target attitude data.
[0099] In the embodiment of the present application, during the working process of the unmanned excavator, the excavator position, the excavator angle, the height of the excavator arm, the angle of the excavator arm, etc. will all change in real time, and the amount of minerals excavated in different attitudes is also different. Therefore, after obtaining the target attitude data, the target attitude data can be analyzed to obtain the target excavator position and the target excavator arm movement indicated by the target attitude data.
[0100] 204. Adjust the moving direction and moving speed of the unmanned excavator according to the target excavator position.
[0101] In the embodiments of the present application, the target excavator position can be used to indicate the position that the unmanned excavator needs to reach during the excavation operation. Combining with the real-time attitude data of the unmanned excavator, the moving direction and moving speed that the unmanned excavator needs to move can be determined.
[0102] 205. Adjust the excavation point of the unmanned excavator according to the target boom movement.
[0103] In the embodiments of the present application, the target boom movement can be used to indicate the position that the boom of the unmanned excavator needs to reach during the excavation operation. Since the length and bending degree of the boom are limited, the excavation point that the boom can reach can be determined according to the target boom movement.
[0104] 206. Calculate the single-time mining stripping volume of the unmanned excavator according to the target attitude data.
[0105] In the embodiments of the present application, the mining stripping volume that can be excavated at one time can be determined according to the position of the unmanned excavator and the attitude of the boom of the unmanned excavator.
[0106] In some embodiments, the total mining volume and its mining stripping grade can also be determined according to the attitude database of the unmanned excavator.
[0107] It should be noted that the mining stripping grade includes the total grade and the grade of the minerals stripped by the unmanned excavator each time. The grade refers to the content of useful components or useful minerals in the ore (or beneficiation products). The grade is the main quality index of the ore and beneficiation products, and it directly affects the beneficiation efficiency. Most minerals are expressed as the mass percentage % of the content of useful components (elements or compounds) or useful minerals, and it can be used as an index to judge the quality of minerals.
[0108] 207. Determine the target positioning data of the unmanned haul truck according to the pre-stored second correspondence and the target attitude data.
[0109] 208. Determine the target movement trajectory of the unmanned haul truck according to the pre-stored third correspondence, the geological environment data, the real-time positioning data of the unmanned haul truck, and the target positioning data.
[0110] 209. Control the unmanned haul truck to move to the position indicated by the target positioning data along the target movement trajectory.
[0111] In the embodiments of the present application, for the description of steps 207 to 209, please refer to the detailed description of steps 103 to 105 in the above embodiments, and the embodiments of the present application will not be repeated here.
[0112] 210. Real-time monitor the influence value of the geological environment data of the goaf.
[0113] In the embodiments of the present application, the influence value of geological environment data is formed due to the continuous influence of the joint operation of the unmanned excavator and the unmanned mining truck on the goaf. When the unmanned excavator and the unmanned mining truck are in joint operation, they will continuously move or change their postures, which will all have a certain impact on the geology of the goaf and may cause dangerous situations. Therefore, it is necessary to detect the geological conditions of the goaf in real time and give early warnings in a timely manner.
[0114] In some embodiments, the influence value of the geological environment data can be obtained by real-time detection of the goaf roadside device arranged in the goaf.
[0115] 211. When it is detected that the influence value of the geological environment data exceeds the safety threshold, control the unmanned excavator to stop excavation and output a warning message indicating the instability of the geological environment in the goaf.
[0116] In the embodiments of the present application, the safety threshold can be a preset value for measuring the safety of the geological environment. The influence value of the geological environment data detected in real time can be compared with the safety threshold. If the current influence value of the geological environment data exceeds the safety threshold, it indicates that there may be a danger in the geological environment of the current goaf. Then, it is necessary to stop excavation and output a warning message indicating the instability of the geological environment in the goaf. After the staff receives the warning message indicating the instability of the geological environment in the goaf, they can perform operations such as maintenance on the goaf.
[0117] In some embodiments, the position of the excavator and the movement of the excavator arm are obtained according to the attitude data of the unmanned excavator, and the influence value of the geological environment data in the goaf is obtained by combining the position of the excavator and the movement of the excavator arm with the geological environment data in the goaf; the speed and steering angle of the unmanned mining truck are obtained according to the positioning data of the unmanned mining truck, and the influence value of the geological environment data in the goaf is obtained by combining the speed and steering angle of the unmanned mining truck with the geological environment data in the goaf; according to the coupling between the attitude data of the unmanned excavator and the positioning data of the unmanned mining truck, the trajectory loading positioning data of the unmanned mining truck during loading and the loading stay duration of the unmanned mining truck are obtained, and the influence value of the geological environment data in the goaf is obtained by combining the trajectory loading positioning data of the unmanned mining truck and the loading stay duration of the unmanned mining truck with the geological environment data in the goaf; the influence value of the geological environment data in the goaf is obtained from the detected intermittent change of the geological environment data during actual mining.
[0118] Through the influence values in four aspects, the influence of the current mining on the geological environment of the goaf can be determined, realizing the specific analysis and macro-control of the influence of the mining environment of the goaf under the joint control of the unmanned excavator and the unmanned mining truck.
[0119] In some embodiments, according to the geological environment data, the operable excavator positions of the unmanned excavator and the excavable excavation points are determined; according to the first correspondence, the operable excavator positions of the unmanned excavator, and the excavable excavation points, the operable excavator position intervals and the excavable excavation point intervals of the unmanned excavator are determined; according to the database, the predicted values of the influence of the geological environment data corresponding to the excavator position intervals and the excavation point intervals are determined respectively; according to the comparison result between the predicted value of the influence of the geological environment data and the safety threshold, the target attitude data of the unmanned excavator is determined.
[0120] It should be noted that during the operation of the unmanned excavator and the unmanned mining truck, the influence value of the geological environment data per unit time can be a known value through the roadside device in the goaf. To avoid too large a difference between the predicted value and the known value, it is necessary to control the operating range and operating time of the unmanned excavator and the unmanned mining truck so that the influence value of the geological environment data is less than the above difference. After determining the operating range and operating time of the unmanned excavator and the unmanned mining truck, the mining attitude of the unmanned excavator and the positioning trajectory of the unmanned mining truck can be determined, and then the influence value of the three-dimensional geological environment data of the goaf generated by the unmanned excavator and the unmanned mining truck can be determined.
[0121] It should be noted that after determining the operable excavator position intervals and the excavable excavation point intervals of the unmanned excavator, the positions and points with the least impact on the geological environment can be selected to start working. Therefore, the predicted values of the influence of the geological environment data corresponding to each position and point can be determined first, and the target excavator position and the target excavation point corresponding to the smallest predicted value of the influence of the geological environment data within the safe range can be selected.
[0122] In some embodiments, during the process of mine exploitation, the three-dimensional geological environment data of the goaf, the attitude data of the unmanned excavator, the positioning data of the unmanned mining truck, and the trajectory positioning data of the unmanned mining truck are related to each other, restrict each other, and all change in real time. However, the safety threshold of the goaf does not change. Therefore, to achieve the coordinated control of the unmanned excavator and the unmanned mining truck based on the safety threshold of the goaf as the basic criterion, it is necessary to update the values corresponding to the first correspondence, the second correspondence, and the third correspondence in real time according to the safety threshold of the goaf, the attitude data of the unmanned excavator, and the trajectory positioning data of the unmanned mining truck, so as to ensure the coordinated control accuracy of the unmanned excavator and the unmanned mining truck.
[0123] That is to say, since the first correspondence, the second correspondence, and the third correspondence are preset and unchanged, when the geological environment data changes, the target attitude data of the unmanned excavator corresponding to the first correspondence will also change, which causes the target positioning data of the unmanned haul truck corresponding to the second correspondence to change, and then causes the target movement trajectory of the unmanned haul truck corresponding to the third correspondence to change. In summary, the linkage control of the unmanned excavator and the unmanned haul truck is realized.
[0124] The embodiment of the present application provides a linkage control method based on an unmanned excavator and an unmanned haul truck. By obtaining the mined-out area geological environment data, the attitude data of the unmanned excavator, the positioning data of the unmanned haul truck, and the trajectory data of the unmanned haul truck, according to the actual working conditions in the mining process, considering the mutual influence and restriction relationships among various parameters, the unmanned excavator and the unmanned haul truck are dynamically and linkably controlled. In addition, the automation level of the unmanned excavator and the unmanned haul truck is effectively improved, and the "unmanned" intelligent mining of the mined-out area is realized, thereby providing technical support for the safe mining and efficient production of the mine, and achieving a dynamic balance between increasing production and ensuring the safety of the mined-out area.
[0125] As Figure 3 shown, the embodiment of the present application provides a linkage control device based on an unmanned excavator and an unmanned haul truck. The linkage control device based on the unmanned excavator and the unmanned haul truck may include:
[0126] An acquisition module 301, configured to acquire the geological environment data of the mined-out area, the real-time attitude data of the unmanned excavator, and the real-time positioning data of the unmanned haul truck;
[0127] A processing module 302, configured to adjust the real-time attitude data of the unmanned excavator to target attitude data according to a pre-stored first correspondence and the geological environment data;
[0128] The processing module 302 is further configured to determine the target positioning data of the unmanned haul truck according to a pre-stored second correspondence and the target attitude data;
[0129] The processing module 302 is further configured to determine the target movement trajectory of the unmanned haul truck according to a pre-stored third correspondence, the geological environment data, the real-time positioning data of the unmanned haul truck, and the target positioning data;
[0130] The processing module 302 is further configured to control the unmanned haul truck to move to the position indicated by the target positioning data according to the target movement trajectory;
[0131] Among them, the first correspondence is used to indicate the correspondence between the geological environment data and the attitude data of the excavator, the second correspondence is used to indicate the correspondence between the attitude data of the excavator and the positioning data of the mining truck, and the third correspondence is used to indicate the correspondence between the geological environment data, the positioning data of the mining truck and the movement trajectory of the mining truck.
[0132] In some embodiments, the processing module 302 is specifically configured to determine the target attitude data of the driverless excavator according to the pre-stored first correspondence and the geological environment data;
[0133] The processing module 302 is specifically configured to determine the target excavator position and the target boom movement of the driverless excavator according to the target attitude data;
[0134] The processing module 302 is specifically configured to adjust the movement direction and movement speed of the driverless excavator according to the target excavator position;
[0135] The processing module 302 is specifically configured to adjust the excavation point of the driverless excavator according to the target boom movement.
[0136] In some embodiments, the processing module 302 is further configured to calculate the single-time mining stripping volume of the driverless excavator according to the target attitude data.
[0137] In some embodiments, the processing module 302 is further configured to control the driverless excavator to perform excavation and place the excavated minerals into the cargo box of the driverless mining truck;
[0138] The processing module 302 is further configured to monitor the cargo load of the cargo box of the driverless mining truck in real time;
[0139] The processing module 302 is further configured to control the driverless excavator to stop excavation when it is detected that the cargo load of the cargo box exceeds the preset cargo load threshold.
[0140] In some embodiments, the processing module 302 is further configured to monitor the influence value of the geological environment data of the goaf in real time;
[0141] The processing module 302 is further configured to control the driverless excavator to stop excavation and output a warning message of geological environment instability in the goaf when it is detected that the influence value of the geological environment data exceeds the safety threshold.
[0142] In some embodiments, the processing module 302 is further configured to determine the operable excavator position and the excavable excavation point of the driverless excavator according to the geological environment data;
[0143] The processing module 302 is further configured to determine the operable excavator position interval and the excavable excavation point interval of the driverless excavator according to the first correspondence, the operable excavator position of the driverless excavator, and the excavable excavation point.
[0144] The processing module 302 is further configured to determine the predicted values of the geological environment data corresponding to the excavator position interval and the excavation point interval respectively according to the database.
[0145] The processing module 302 is further configured to determine the target attitude data of the unmanned excavator according to the comparison result between the predicted value of the geological environment data and the safety threshold.
[0146] In the embodiments of the present application, each module can implement the linkage control method based on the unmanned excavator and the unmanned mining truck provided in the above method embodiments, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.
[0147] As Figure 4 shown, the embodiments of the present application provide a linkage control system based on an unmanned excavator and an unmanned mining truck. The linkage control system based on the unmanned excavator and the unmanned mining truck may include:
[0148] The goaf roadside device 401 is configured to obtain the geological environment data of the goaf and send it to the unmanned driving cloud platform.
[0149] The excavator attitude detection device 402 is configured to obtain the real-time attitude data of the unmanned excavator and send it to the unmanned driving cloud platform.
[0150] The mining truck positioning device 403 is configured to obtain the real-time positioning data of the unmanned mining truck and send it to the unmanned driving cloud platform.
[0151] The unmanned driving cloud platform 404 is configured to obtain the geological environment data of the goaf sent by the goaf roadside device, the real-time attitude data of the unmanned excavator sent by the excavator attitude detection device, and the real-time positioning data of the unmanned mining truck sent by the mining truck positioning device.
[0152] The unmanned excavator attitude database 405 is configured to store and update the first corresponding relationship.
[0153] The unmanned driving cloud platform 404 is further configured to adjust the real-time attitude data of the unmanned excavator to the target attitude data according to the first corresponding relationship pre-stored in the unmanned excavator attitude database and the geological environment data.
[0154] The unmanned mining truck positioning database 406 is configured to store and update the second corresponding relationship.
[0155] The unmanned driving cloud platform 404 is further configured to determine the target positioning data of the unmanned mining truck according to the second corresponding relationship pre-stored in the unmanned mining truck positioning database and the target attitude data.
[0156] The unmanned mining truck trajectory database 407 is configured to store and update the third corresponding relationship.
[0157] The driverless cloud platform 404 is further configured to determine the target movement trajectory of the driverless mining truck according to the third corresponding relationship pre-stored in the driverless mining truck trajectory database, the geological environment data, the real-time positioning data of the driverless mining truck, and the target positioning data;
[0158] The driverless cloud platform 404 is further configured to control the driverless mining truck to move to the position indicated by the target positioning data according to the target movement trajectory;
[0159] Wherein, the first corresponding relationship is used to indicate the corresponding relationship between the geological environment data and the posture data of the excavator, the second corresponding relationship is used to indicate the corresponding relationship between the posture data of the excavator and the positioning data of the mining truck, and the third corresponding relationship is used to indicate the corresponding relationship between the geological environment data, the positioning data of the mining truck, and the movement trajectory of the mining truck.
[0160] In some embodiments, the linkage control system based on the driverless excavator and the driverless mining truck may further include: a cargo box load detection device 408, configured to detect the cargo load in the cargo box of the driverless mining truck in real time.
[0161] In some embodiments, the linkage control system based on the driverless excavator and the driverless mining truck may further include: a driverless excavator controller 409, configured to control the movement of the driverless excavator and the movement of the excavator arm.
[0162] In some embodiments, the linkage control system based on the driverless excavator and the driverless mining truck may further include: a driverless mining truck controller 410, configured to control the movement of the driverless mining truck.
[0163] As Figure 5 shown, an embodiment of the present application further provides an electronic device, which may include:
[0164] A memory 501 storing executable program code;
[0165] A processor 502 coupled to the memory 501;
[0166] Wherein, the processor 502 calls the executable program code stored in the memory 501 and executes the linkage control method based on the driverless excavator and the driverless mining truck executed by the electronic device in the above method embodiments.
[0167] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements each process of the linkage control method based on the driverless excavator and the driverless mining truck in the above method embodiments, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.
[0168] The embodiments of the present application also provide a computer program product. The computer program product stores a computer program, and when the computer program is executed by a processor, it realizes each process of the linkage control method based on the unmanned excavator and the unmanned mining truck in the above method embodiments, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.
[0169] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code.
[0170] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of the code, and the module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.
[0171] In the present application, the processor can be a central processing unit (CPU), or can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor, etc.
[0172] In this application, the memory may include non-permanent memory in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.
[0173] In this application, those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. The computer-readable medium includes permanent and non-permanent, removable and non-removable storage media. The storage medium can implement information storage by any method or technology, and the information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (Parallel Random Access Memory, PRAM), static random access memory (Static Random Access Memory, SRAM), dynamic random access memory (Dynamic Random Access Memory, DRAM), programmable read-only memory (Programmable Read-only Memory, PROM), erasable programmable read-only memory (Erasable Programmable Read Only Memory, EPROM), other types of random access memory (Random Access Memory, RAM), read-only memory (Read-Only Memory, ROM), one-time programmable read-only memory (One-time Programmable Read-Only Memory, OTPROM), electrically-erasable programmable read-only memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), flash memory or other memory technologies, compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media do not include transitory computer-readable media such as modulated data signals and carrier waves.
[0174] It should be noted that, in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.
[0175] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, the "in one embodiment" or "in an embodiment" that appears throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present application. The above-mentioned multiple embodiments are not necessarily multiple independent embodiments. Dividing them into multiple embodiments is only used to highlight the different technical features in different embodiments. Those skilled in the art should know that the above-mentioned multiple embodiments can also be combined arbitrarily.
[0176] In various embodiments of the present application, it should be understood that the magnitude of the serial numbers of the above processes does not necessarily mean the inevitable sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
[0177] The units described as separate components above may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0178] In addition, in each embodiment of the present application, each functional unit can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
[0179] When the above 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-accessible memory. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several requests for causing a computer device (which can be a personal computer, a server, or a network device, etc., specifically, the processor in the computer device) to execute some or all of the steps of the above method in various embodiments of the present application.
[0180] The above are only specific implementation manners of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments herein, but rather will conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A linkage control method based on an unmanned excavator and an unmanned mining truck, characterized in that: The method comprises: Acquire geological environment data of the goaf, real-time posture data of the unmanned excavator, and real-time positioning data of the unmanned mining truck; According to the pre-stored first corresponding relationship and the geological environment data, the real-time posture data of the unmanned excavator is adjusted to the target posture data; Determining target positioning data of the unmanned mining truck according to the pre-stored second corresponding relationship and the target posture data; Determine the target movement trajectory of the unmanned mining truck according to the pre-stored third corresponding relationship, the geological environment data, the real-time positioning data of the unmanned mining truck and the target positioning data; Controlling the unmanned mining truck to move to the position indicated by the target positioning data according to the target movement trajectory; Among them, the first correspondence is used to indicate the correspondence between geological environment data and the posture data of the excavator, the second correspondence is used to indicate the correspondence between the posture data of the excavator and the positioning data of the mining truck, and the third correspondence is used to indicate the correspondence between the geological environment data, the positioning data of the mining truck and the moving trajectory of the mining truck.
2. The method according to claim 1, characterized in that The step of adjusting the real-time posture data of the unmanned excavator to target posture data according to the pre-stored first corresponding relationship and the geological environment data includes: Determining the target posture data of the unmanned excavator according to the pre-stored first corresponding relationship and the geological environment data; Determining a target excavator position and a target excavating arm motion of the unmanned excavator according to the target posture data; Adjusting the moving direction and moving speed of the unmanned excavator according to the target excavator position; The excavation position of the unmanned excavator is adjusted according to the target excavating arm movement.
3. The method according to claim 1, characterized in that: After adjusting the real-time posture data of the unmanned excavator to target posture data according to the pre-stored first corresponding relationship and the geological environment data, the method further includes: The single mining stripping amount of the unmanned excavator is calculated according to the target posture data.
4. The method according to claim 1, characterized in that The method further comprises: Controlling the unmanned excavator to perform excavation, and placing the excavated minerals into the cargo box of the unmanned mining truck; Real-time monitoring of the cargo volume of the cargo box of the unmanned mining truck; When it is detected that the cargo volume of the cargo box exceeds a preset cargo volume threshold, the unmanned excavator is controlled to stop excavating.
5. The method according to claim 1, characterized in that The method further comprises: Real-time monitoring of the impact value of geological environment data of the goaf; When it is detected that the impact value of the geological environment data exceeds a safety threshold, the unmanned excavator is controlled to stop excavation and outputs a warning message of geological environment instability in the goaf.
6. The method according to claim 5, characterized in that The method further comprises: Determining an operable excavation position and an excavation point of the unmanned excavator according to the geological environment data; Determine an operable excavator position interval and an operable excavation point interval of the unmanned excavator according to the first corresponding relationship, an operable excavator position of the unmanned excavator, and an operable excavation point interval of the unmanned excavator; Determine the impact prediction values of geological environment data corresponding to the excavator position interval and the excavation point interval respectively according to the database; The target posture data of the unmanned excavator is determined according to a comparison result between the geological environment data impact prediction value and the safety threshold.
7. A linkage control device based on an unmanned excavator and an unmanned mining truck, characterized in that: The linkage control device based on the unmanned excavator and the unmanned mining truck includes: An acquisition module, used to acquire geological environment data of the goaf, real-time posture data of the unmanned excavator, and real-time positioning data of the unmanned mining truck; A processing module, used for adjusting the real-time posture data of the unmanned excavator to target posture data according to the pre-stored first corresponding relationship and the geological environment data; The processing module is further used to determine the target positioning data of the unmanned mining truck according to the pre-stored second corresponding relationship and the target posture data; The processing module is further used to determine the target movement trajectory of the unmanned mining truck according to the pre-stored third corresponding relationship, the geological environment data, the real-time positioning data of the unmanned mining truck and the target positioning data; The processing module is further used to control the unmanned mining truck to move to the position indicated by the target positioning data according to the target movement trajectory; Among them, the first correspondence is used to indicate the correspondence between geological environment data and the posture data of the excavator, the second correspondence is used to indicate the correspondence between the posture data of the excavator and the positioning data of the mining truck, and the third correspondence is used to indicate the correspondence between the geological environment data, the positioning data of the mining truck and the moving trajectory of the mining truck.
8. A linkage control system based on an unmanned excavator and an unmanned mining truck, characterized in that: The linkage control system based on the unmanned excavator and the unmanned mining truck includes: The roadside device in the goaf is used to obtain geological environment data of the goaf and send it to the unmanned driving cloud platform; An excavator posture detection device, used to obtain real-time posture data of the unmanned excavator and send it to the unmanned driving cloud platform; A mining truck positioning device, used to obtain real-time positioning data of the unmanned mining truck and send it to the unmanned driving cloud platform; The unmanned driving cloud platform is used to obtain the geological environment data of the goaf sent by the goaf roadside device, the real-time posture data of the unmanned excavator sent by the excavator posture detection device, and the real-time positioning data of the unmanned mining truck sent by the mining truck positioning device; An unmanned excavator posture database, used to store and update the first corresponding relationship; The unmanned driving cloud platform is further used to adjust the real-time posture data of the unmanned excavator to target posture data according to the first corresponding relationship and the geological environment data pre-stored in the unmanned excavator posture database; Unmanned mining truck positioning database, used to store and update the second corresponding relationship; The unmanned driving cloud platform is further used to determine the target positioning data of the unmanned mining truck according to the second corresponding relationship and the target posture data pre-stored in the unmanned mining truck positioning database; Unmanned mining truck trajectory database, used to store and update the third correspondence; The unmanned driving cloud platform is further used to determine the target movement trajectory of the unmanned mining truck according to the third corresponding relationship, the geological environment data, the real-time positioning data of the unmanned mining truck and the target positioning data pre-stored in the unmanned mining truck trajectory database; The unmanned driving cloud platform is also used to control the unmanned mining truck to move to the position indicated by the target positioning data according to the target movement trajectory; Among them, the first correspondence is used to indicate the correspondence between geological environment data and the posture data of the excavator, the second correspondence is used to indicate the correspondence between the posture data of the excavator and the positioning data of the mining truck, and the third correspondence is used to indicate the correspondence between the geological environment data, the positioning data of the mining truck and the moving trajectory of the mining truck.
9. An electronic device, characterized in that: The electronic device comprises: A memory storing executable program code; and a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the linkage control method based on the unmanned excavator and the unmanned mining truck as described in any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that: include: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed by the processor, the linkage control method based on the unmanned excavator and the unmanned mining truck as described in any one of claims 1 to 6 is implemented.