Cloud control platform-based surface mine road side water sprinkling equipment control method

Abstract

The invention discloses a surface mine road side watering equipment control method based on a cloud control platform, and the method comprises the steps: obtaining surface mine road traffic flow data through an unmanned cloud control platform and a high-precision map; based on traffic flow distribution characteristics, the watering intensity is designed; the method comprises the following steps of: dividing a road into a plurality of section roads according to the actual situation of a mine and unmanned driving requirements, and designing a watering control strategy to carry out accurate watering; according to the designed watering control strategy, the divided multiple section roads are accurately watered, and meanwhile, according to the real-time traffic flow data, watering equipment of the section roads is intelligently controlled to be turned on and turned off. Mine traffic flow data are obtained through the cloud control platform and the high-precision map, the sprinkling strategy of starting when the vehicle arrives and stopping when the vehicle leaves is implemented, and the roadside sprinkling equipment is intelligently controlled. Normal perception of the unmanned mine car is ensured, and hydroelectric energy consumption is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of supervision information fusion of open-pit mines, and in particular to a method for controlling road-side sprinkler equipment in open-pit mines based on a cloud control platform. Background Art

[0002] In open-pit mines, unmanned mining trucks operate with dust, a key factor that poses a severe challenge to the truck's sensor system. In severe cases, it can even cause a complete loss of sensory functionality. To effectively mitigate the hazards of dust in open-pit mines, we have implemented watering measures in the spoil dump and haul roads within the mine area to reduce the adverse effects of dust on the operating environment.

[0003] Currently, the mainstream solutions for dust reduction by water sprinkling in open-pit mines fall into two categories: mobile sprinkler trucks and fixed roadside sprinkler facilities. Fixed roadside sprinkler facilities use sophisticated piping systems to precisely deliver water to the spraying area, implementing centralized watering in key areas to significantly reduce dust concentrations. However, if the watering control strategy is not scientific enough, it can easily lead to problems such as "over-watering" or "ineffective watering," resulting in unnecessary waste of water and electricity resources. Therefore, a safe, efficient, and economical intelligent control strategy for road watering in open-pit mines is urgently needed. This is crucial for ensuring the energy-saving operation of smart mines and the driving safety of unmanned mining vehicles.

[0004] In existing research and practice on watering control technology, the segmented control strategy has dominated. This strategy divides the road into multiple sections, each with a fixed watering frequency and intensity. Existing technology standardizes the design of watering operations on open-pit mine roads. However, this segmented control strategy has a significant drawback: it cannot dynamically adjust the watering volume based on real-time changes in air dust concentration, thus affecting the actual dust reduction effect of watering. Summary of the Invention

[0005] The purpose of the present invention is to overcome the shortcomings of the existing technology. To achieve the above purpose, a method for controlling open-pit mine road side sprinkler equipment based on a cloud control platform is adopted to solve the problems raised in the above background technology.

[0006] A method for controlling roadside sprinkler equipment in an open-pit mine based on a cloud control platform comprises the following steps:

[0007] S1. Use the unmanned driving cloud control platform and high-precision maps to obtain traffic data on open-pit mine roads;

[0008] S2. Design the watering intensity based on the traffic distribution characteristics;

[0009] S3. Divide the road into multiple sections based on the actual mine conditions and the needs of unmanned driving, and design a watering control strategy for precise watering.

[0010] S4. According to the designed watering control strategy, the multiple divided road sections are precisely watered. At the same time, the opening and closing of the road section watering equipment is intelligently controlled based on real-time traffic data.

[0011] As a further solution of the present invention: the specific steps in S1 include:

[0012] Utilize the unmanned driving cloud control platform and high-precision maps to obtain historical and real-time data on traffic flow on open-pit mine roads;

[0013] Then, based on the historical data and real-time data, we can get the road segment x i The traffic speed is v i , the traffic speed at position x is expressed as V(x);

[0014] On this basis, the traffic speed of continuous road sections is obtained.

[0015] As a further solution of the present invention: the specific steps in S2 include:

[0016] Design the corresponding watering intensity according to the uneven distribution of traffic on open-pit mine roads;

[0017] Among them, the sprinkler intensity is the amount of water received per unit area per unit time when the sprinkler nozzle is turned on; the maximum area protected by the sprinkler intensity and the maximum calculated protection area when calculating the design flow rate are taken as the effective area.

[0018] As a further solution of the present invention: the specific steps in S3 include:

[0019] Determine the level of precision required by the actual conditions of the open-pit mine and the perception system of the unmanned mining vehicle;

[0020] The mine road is divided into sections with a granularity of granularity, and the road is divided into multiple partitioned roads;

[0021] Turn on or off the roadside sprinkler equipment in each section according to the number of vehicles in that section;

[0022] At the same time, according to the factors of completion before vehicle arrival, delay in starting the sprinkler equipment, and vehicle driving interval, strategies for starting, delaying, and closing the sprinkler equipment are designed respectively.

[0023] As a further solution of the present invention: the specific steps in S4 include:

[0024] Step S41, start and calculate the watering interval: when the vehicle enters interval j, start watering interval j and the extension distance of the interval in the driving direction sprinkler systems inside;

[0025] According to the time delay of the sprinkler equipment opening, the braking distance of the mine car, and the sensing distance of the onboard sensor, The size of interval j is determined, and the entry position of interval j is The exit location is get:

[0026]

[0027] in, is the braking distance of the mine car, l o The comprehensive sensing distance of the unmanned vehicle’s onboard sensors during normal driving, l s is the vehicle travel distance within the start-up time of the sprinkler equipment, and c2 is a safety constant defined by the open-pit mine itself;

[0028] Step S42, delayed watering control: When all vehicles have left section j, the roadside watering equipment is delayed to spray water. d After the sprinkler is turned off, the delay time calculation formula is:

[0029]

[0030] in, is the watering delay time, l d is the distance the vehicle leaves the interval, V(x j ) is the average speed of the unmanned mining car in interval j;

[0031] Step S43, shut down the sprinkler control logic: after obtaining real-time traffic data, execute sprinkler control on the roadside sprinkler equipment through the cloud control platform.

[0032] As a further solution of the present invention: the specific steps in S43 include:

[0033] Step 1: The cloud control platform obtains the number of vehicles in this interval. The calculation formula for the number of vehicles in interval j is Z j =Q j+1 -Q j , where Q j+1 and Q j are the number of inflow vehicles in intervals j+1 and j respectively;

[0034] Step 2: If the number of vehicles in the interval is not 0, the cloud control platform calculates the interval extension distance l based on the traffic speed a , mark it as watering interval O, for example, the watering interval corresponding to interval j is

[0035] Step 3: If the number of vehicles in this section changes to 0, the cloud control platform notifies the sprinkler equipment to perform a delayed sprinkler operation;

[0036] Step 4: If the duration of interval j If there is no car inside, the cloud control platform will mark it as a watering off zone.

[0037]

[0038] Calculate the road watering opening interval O t =O 1 ∪O 2 ∪…∪O N , cloud control platform notification interval O t The internal sprinkler equipment starts the sprinkler operation;

[0039] Calculate road watering closure interval D t =(D 1 ∪D 2 ∪…∪D N )-O t , cloud control platform notification interval D t The internal sprinkler system performs the sprinkler shut-off operation.

[0040] Compared with the prior art, the present invention has the following technical effects:

[0041] The above technical solution optimizes watering operations in open-pit mines through intelligent means. First, the unmanned driving cloud control platform and high-precision mapping technology are used to accurately acquire traffic data on mine roads. Next, based on the traffic distribution characteristics of this data, an appropriate watering intensity is designed. Next, based on the actual conditions of the mine and the operational requirements of the unmanned vehicles, the roads are scientifically divided into multiple sections, and specific watering control strategies are designed for each section to achieve precise watering. Finally, based on these strategies, precise watering operations are carried out on each section of the road, and the sprinkler system is intelligently controlled on and off based on real-time traffic data. By accurately acquiring traffic data and designing watering strategies, refined watering operations are achieved, avoiding water waste. Furthermore, intelligently controlling the on and off of the sprinkler system not only reduces power consumption but also ensures the coordination of watering operations with mine vehicle operations, improving overall mine production efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings:

[0043] Figure 1 A schematic diagram of the steps of the sprinkler equipment control method according to the embodiment disclosed in this application;

[0044] Figure 2 A schematic diagram of an open-pit mine road in an embodiment disclosed in this application;

[0045] Figure 3 This is a schematic diagram of the road section division of an open-pit mine in an embodiment disclosed in this application;

[0046] Figure 4 This is a logic diagram of intelligent watering control for open-pit mine roads according to an embodiment disclosed in this application. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0048] Please refer to Figure 1 In an embodiment of the present invention, a method for controlling watering equipment on the road side of an open-pit mine based on a cloud control platform includes the following steps:

[0049] S1. Use the unmanned driving cloud control platform and high-precision maps to obtain traffic data on open-pit mine roads. The specific steps include:

[0050] In this embodiment, while road watering reduces the adverse effects of dust on the autonomous driving perception system, it also alters the ground friction coefficient. Especially at the intersection of dry and wet surfaces, where the ground friction coefficient fluctuates dramatically, unmanned mining vehicles can easily become obstructed if they fail to adapt in a timely manner, compromising driving safety. Therefore, it is necessary to consider traffic characteristics such as speed and density, and design the road watering intensity from the perspective of autonomous driving perception.

[0051] Utilize the unmanned driving cloud control platform and high-precision maps to obtain historical and real-time data on traffic flow on open-pit mine roads;

[0052] like Figure 2 As shown in the figure, it is a schematic diagram of the open-pit mine road. Then, according to the historical data and real-time data, the road section x is obtained. i The traffic speed is v i , the traffic speed at position x is expressed as V(x);

[0053] On this basis, the traffic speed of continuous road sections is obtained.

[0054] S2. Design the watering intensity based on the traffic distribution characteristics. The specific steps include:

[0055] Design the corresponding watering intensity according to the uneven distribution of traffic on open-pit mine roads;

[0056] Among them, the sprinkler intensity is the amount of water received per unit area per unit time when the sprinkler nozzle is turned on; the maximum area protected by the sprinkler intensity and the maximum calculated protection area when calculating the design flow rate are taken as the effective area.

[0057] In this embodiment, the unit of watering intensity is (L / min·m 2 ).

[0058] Specifically, the intelligent control strategy for mine road watering:

[0059] Open-pit mines experience uneven traffic distribution in both temporal and spatial dimensions, with heavy traffic in some time periods and sections, and few or no traffic in others. If sprinklers are still running even when no traffic is on the road, resources are wasted. Therefore, a "turn on when traffic arrives, turn off when traffic leaves" control strategy is recommended for fixed roadside sprinklers.

[0060] S3. Divide the road into multiple sections based on the actual mine conditions and the need for unmanned driving, and design a watering control strategy for precise watering. The specific steps include:

[0061] Determine the level of precision required by the actual conditions of the open-pit mine and the perception system of the unmanned mining vehicle;

[0062] The mine road is divided into sections with a granularity of granularity, and the road is divided into multiple partitioned roads;

[0063] Turn on or off the roadside sprinkler equipment in each section according to the number of vehicles in that section;

[0064] At the same time, according to the factors of completion before vehicle arrival, delay in starting the sprinkler equipment, and vehicle driving interval, strategies for starting, delaying, and closing the sprinkler equipment are designed respectively.

[0065] In this embodiment, Figure 3 As shown, the figure is a schematic diagram of the road section division of the open-pit mine;

[0066] The number of vehicles in each section is counted. If the number of vehicles is greater than 0, the roadside sprinklers in that section are turned on. If there are no vehicles in the section, the sprinklers are suspended. However, in practice, considering factors such as the need for dust removal to be completed before vehicle arrival, the sprinkler activation delay, and the vehicle driving interval, separate sprinkler activation, delay, and shutdown strategies are designed.

[0067] S4. Based on the designed watering control strategy, the multiple divided road sections are precisely watered. At the same time, the opening and closing of the road sprinklers are intelligently controlled based on real-time traffic data. The specific steps include:

[0068] Step S41, start and calculate the watering interval: when the vehicle enters interval j, start watering interval j and the extension distance of the interval in the driving direction sprinkler systems inside;

[0069] Consider ensuring that the unmanned mining vehicle's perception system is not affected by dust in this section, and the safety of the vehicle when it transitions from this section to the j+1 section.

[0070] According to the time delay of the sprinkler equipment opening, the braking distance of the mine car, and the sensing distance of the onboard sensor, The size of interval j is determined, and the entry position of interval j is The exit location is get:

[0071]

[0072] in, is the braking distance of the mine car, l o The comprehensive sensing distance of the unmanned vehicle’s onboard sensors during normal driving, l s is the vehicle travel distance within the start-up time of the sprinkler equipment, and c2 is a safety constant defined by the open-pit mine itself;

[0073] Step S42, delayed watering control: When all vehicles have left section j, the roadside watering equipment is delayed to spray water. d After the sprinkler is turned off, the delay time calculation formula is:

[0074]

[0075] in, is the watering delay time, l d is the distance the vehicle leaves the interval, V(x j ) is the average speed of the unmanned mining car in interval j;

[0076] Step S43: Shut down the sprinkler control logic: After acquiring real-time traffic data, the roadside sprinkler equipment is controlled through the cloud control platform. The specific steps include:

[0077] After obtaining real-time traffic data, the cloud control platform notifies the roadside sprinkler equipment to execute sprinkler control. The specific logic process of intelligent sprinkler control for open-pit mine roads is as follows: Figure 4 As shown, the figure is a logic diagram of intelligent sprinkler control for open-pit mine roads;

[0078] Step 1: The cloud control platform obtains the number of vehicles in this interval. The calculation formula for the number of vehicles in interval j is Z j =Q j+1 -Qj , where Q j+1 and Q j are the number of inflow vehicles in intervals j+1 and j respectively;

[0079] Step 2: If the number of vehicles in the interval is not 0, the cloud control platform calculates the interval extension distance l based on the traffic speed a , mark it as watering interval O, for example, the watering interval corresponding to interval j is

[0080] Step 3: If the number of vehicles in this section changes to 0, the cloud control platform notifies the sprinkler equipment to perform a delayed sprinkler operation;

[0081] Step 4: If the duration of interval j If there is no car inside, the cloud control platform will mark it as a watering off zone.

[0082]

[0083] Calculate the road watering opening interval O t =O 1 ∪O 2 ∪…∪O N , cloud control platform notification interval O t The internal sprinkler equipment starts the sprinkler operation;

[0084] Calculate road watering closure interval D t =(D 1 ∪D 2 ∪…∪D N )-O t , cloud control platform notification interval D t The internal sprinkler system performs the sprinkler shut-off operation.

[0085] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents, and all should be included within the scope of protection of the present invention.

Claims

1. A method for controlling watering equipment on the road side of an open-pit mine based on a cloud control platform, characterized in that: The following steps are involved: S1. Use the unmanned driving cloud control platform and high-precision maps to obtain traffic data on open-pit mine roads; S2. Design the watering intensity based on the traffic distribution characteristics; S3. Divide the road into multiple sections based on the actual mine conditions and the needs of unmanned driving, and design a watering control strategy for precise watering. S4. According to the designed watering control strategy, the multiple divided road sections are precisely watered. At the same time, the opening and closing of the road section watering equipment is intelligently controlled based on real-time traffic data.

2. A method for controlling watering equipment on the road side of an open-pit mine based on a cloud control platform according to claim 1, characterized in that: The specific steps in S1 include: Utilize the unmanned driving cloud control platform and high-precision maps to obtain historical and real-time data on traffic flow on open-pit mine roads; Then, based on the historical data and real-time data, we can get the road segment x i The traffic speed is v i , the traffic speed at position x is expressed as V(x); On this basis, the traffic speed of continuous road sections is obtained.

3. The method for controlling watering equipment on the road side of an open-pit mine based on a cloud control platform according to claim 1, characterized in that: The specific steps in S2 include: Design the corresponding watering intensity according to the uneven distribution of traffic on open-pit mine roads; Among them, the sprinkler intensity is the amount of water received per unit area per unit time when the sprinkler nozzle is turned on; the maximum area protected by the sprinkler intensity and the maximum calculated protection area when calculating the design flow rate are taken as the effective area.

4. The method for controlling watering equipment on the road side of an open-pit mine based on a cloud control platform according to claim 1, characterized in that: The specific steps in S3 include: Determine the level of precision required by the actual conditions of the open-pit mine and the perception system of the unmanned mining vehicle; The mine road is divided into sections with a granularity of granularity, and the road is divided into multiple partitioned roads; Turn on or off the roadside sprinkler equipment in each section according to the number of vehicles in that section; At the same time, according to the factors of completion before vehicle arrival, delay in starting the sprinkler equipment, and vehicle driving interval, strategies for starting, delaying, and closing the sprinkler equipment are designed respectively.

5. The method for controlling watering equipment on the road side of an open-pit mine based on a cloud control platform according to claim 1, characterized in that: The specific steps in S4 include: Step S41, start and calculate the watering interval: when the vehicle enters interval j, start watering interval j and the extension distance of the interval in the driving direction Sprinklers inside; According to the time delay of the sprinkler equipment opening, the braking distance of the mine car, and the sensing distance of the onboard sensor, The size of interval j is determined, and the entry position of interval j is The exit location is get: in, is the braking distance of the mine car, l o The comprehensive sensing distance of the unmanned vehicle’s onboard sensors during normal driving, l s is the vehicle travel distance within the start-up time of the sprinkler equipment, and c2 is a safety constant defined by the open-pit mine itself; Step S42, delayed watering control: When all vehicles have left section j, the roadside watering equipment is delayed to spray water. d After the sprinkler is turned off, the delay time calculation formula is: in, is the watering delay time, l d is the distance the vehicle leaves the interval, V(x j ) is the average speed of the unmanned mining car in interval j; Step S43, shut down the sprinkler control logic: after obtaining real-time traffic data, execute sprinkler control on the roadside sprinkler equipment through the cloud control platform.

6. A method for controlling watering equipment on the road side of an open-pit mine based on a cloud control platform according to claim 5, characterized in that: The specific steps in S43 include: Step 1: The cloud control platform obtains the number of vehicles in this interval. The calculation formula for the number of vehicles in interval j is Z j =Q j+1 -Q j , where Q j+1 and Q j are the number of inflow vehicles in intervals j+1 and j respectively; Step 2: If the number of vehicles in the interval is not 0, the cloud control platform calculates the interval extension distance l based on the traffic speed a , mark it as watering interval O, for example, the watering interval corresponding to interval j is Step 3: If the number of vehicles in this section changes to 0, the cloud control platform notifies the sprinkler equipment to perform a delayed sprinkler operation; Step 4: If the duration of interval j If there is no car inside, the cloud control platform will mark it as a watering off zone. Calculate the road watering opening interval O t =O 1 ∪O 2 ∪…∪O N , cloud control platform notification interval O t The internal sprinkler equipment starts the sprinkler operation; Calculate road watering closure interval D t =(D 1 ∪D 2 ∪…∪D N )-O t , cloud control platform notification interval D t The internal sprinkler system performs the sprinkler shut-off operation.

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