Loading number statistical system, method, device, medium and program product

Abstract

The invention discloses a loading and transporting time counting system, method and equipment, a medium and a program product. The system comprises a central control module, a first inertial navigation sensor and a second inertial navigation sensor, wherein the first inertial navigation sensor is mounted on a vehicle frame of the mine truck equipment, and the second inertial navigation sensor is mounted on a vehicle hopper of the mine truck equipment; the first inertial navigation sensor is used for measuring first motion state information of the mine card equipment in real time; the second inertial navigation sensor is used for measuring second motion state information of the hopper of the mine truck equipment in real time; and the central control module is used for determining accurate position information of the mine card equipment according to the first motion state information, determining the loading state of the mine card equipment according to the first motion state information and the second motion state information, and counting the loading and transporting times of the mine card equipment according to the accurate position information and the loading state. According to the method, the accurate position information is determined according to the first motion state information, so that the accuracy of the number of times statistics and the intelligent degree of mine construction are improved.

Description

Technical Field

[0001] The present application relates to the field of mine construction technology, and in particular to a system, method, equipment, medium and program product for counting shipment trips. Background Art

[0002] In mining construction scenarios, it is necessary to count the number of trips of mining trucks (referred to as mining trucks) for loading, unloading, and transporting (referred to as loading) minerals. Usually, the process of transporting the vehicle from the loading area to the unloading area is counted as one trip.

[0003] Currently, the location of the mining truck is determined by Global Positioning System (GPS) positioning technology, so that the number of shipment trips can be counted according to the change in the location of the mining truck.

[0004] However, in complex terrain such as mines, signal blocking often occurs, resulting in low accuracy in the number of trips obtained based on GPS positioning technology. Summary of the Invention

[0005] The present application provides a system, method, device, medium and program product for counting the number of shipment trips to solve the problem of signal blocking that often occurs in complex terrain such as mines in the prior art, resulting in low accuracy of the number of trips obtained based on GPS positioning technology.

[0006] In a first aspect, the present application provides a shipment trip counting system, comprising a central control module, a first inertial navigation sensor, and a second inertial navigation sensor; wherein the first inertial navigation sensor and the second inertial navigation sensor are both connected to the central control module, the first inertial navigation sensor is mounted on the frame of a mining truck, and the second inertial navigation sensor is mounted on the bucket of the mining truck;

[0007] The first inertial navigation sensor is used to measure first motion state information of the mining truck device in real time and send the first motion state information to the central control module;

[0008] The second inertial navigation sensor is used to measure the second motion state information of the bucket of the mining truck equipment in real time, and send the second motion state information to the central control module;

[0009] The central control module is used to receive the first motion state information of the mining truck device and the second motion state information of the truck bucket, and determine the precise position information of the mining truck device according to the first motion state information;

[0010] The central control module is further configured to determine a loading state of the mining truck device according to the first motion state information and the second motion state information;

[0011] The central control module is further configured to count the number of shipment trips of the mining truck device according to the precise location information of the mining truck device and the loading status of the mining truck device.

[0012] In a second aspect, the present application provides a method for counting shipment trips, the method comprising:

[0013] receiving first motion state information of the mining truck device sent by the first inertial navigation sensor and second motion state information of the bucket of the mining truck device sent by the second inertial navigation sensor;

[0014] Determine the precise location information of the mining truck device according to the first motion state information;

[0015] Determining a loading state of the mining truck device according to the second motion state information;

[0016] The number of shipment trips of the mining truck device is counted according to the precise location information of the mining truck device and the loading status of the mining truck device.

[0017] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the method for counting the number of shipments as described in the second aspect of the present application is implemented.

[0018] In a fourth aspect, the present application also provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the method for counting the number of shipments as described in the second aspect of the present application.

[0019] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method for counting the number of shipments as described in the second aspect of the present application.

[0020] The solution of the present application is a system for counting the number of shipments, including a central control module, a first inertial navigation sensor, and a second inertial navigation sensor; wherein the first inertial navigation sensor and the second inertial navigation sensor are both connected to the central control module, the first inertial navigation sensor is installed on the frame of the mining truck equipment, and the second inertial navigation sensor is installed on the bucket of the mining truck equipment; the first inertial navigation sensor is used to measure the first motion state information of the mining truck equipment in real time, and send the first motion state information to the central control module; the second inertial navigation sensor is used to measure the second motion state information of the bucket of the mining truck equipment in real time, and send the second motion state information to the central control module; the central control module is used to receive the first motion state information of the mining truck equipment and the second motion state information of the bucket, and determine the precise position information of the mining truck equipment based on the first motion state information; the central control module is also used to determine the loading state of the mining truck equipment based on the first motion state information and the second motion state information; the central control module is also used to count the number of shipments of the mining truck equipment based on the precise position information of the mining truck equipment and the loading state of the mining truck equipment. Specifically, the solution of this application, on the one hand, determines the precise location of the mining truck based on the first motion state information of the mining truck sent by the first inertial navigation sensor, thus avoiding the situation where the location of the mining truck obtained by GPS positioning technology may be inaccurate due to mine obstruction, thereby improving the accuracy of trip count. On the other hand, the loading state of the mining truck is determined based on the second motion state information, and the number of shipment trips of the mining truck is counted based on the precise location information and loading state, improving the accuracy of shipment trip count and the intelligence level of mine construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a structural diagram of the shipment trip statistics system provided by this application;

[0023] Figure 2 This is another structural diagram of the shipment trip statistics system provided by this application;

[0024] Figure 3 This is a flow chart of the shipment trip statistics method provided by this application;

[0025] Figure 4 is a structural diagram of an electronic device provided by this application; DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0027] Figure 1 1 is a structural diagram of the shipment trip counting system 01 provided by this application, which is applicable to the operation of the central control module 101, the first inertial navigation sensor 102 and the second inertial navigation sensor 103. Figure 1 As shown, the shipment trip counting system 01 includes a central control module 101 , a first inertial navigation sensor 102 and a second inertial navigation sensor 103 .

[0028] The first inertial navigation sensor 102 and the second inertial navigation sensor 103 are both connected to the central control module 101 . The first inertial navigation sensor 102 is installed on the frame of the mining truck equipment, and the second inertial navigation sensor 103 is installed on the bucket of the mining truck equipment.

[0029] The first inertial navigation sensor 102 is used to measure first motion state information of the mining truck device in real time and send the first motion state information to the central control module 101 .

[0030] The second inertial navigation sensor 103 is used to measure the second motion state information of the bucket of the mining truck equipment in real time, and send the second motion state information to the central control module 101.

[0031] The central control module 101 is used to receive first motion state information of the mining truck device and second motion state information of the truck bucket, and determine the precise position information of the mining truck device according to the first motion state information.

[0032] The central control module 101 is further configured to determine a loading state of the mining truck device according to the first motion state information and the second motion state information.

[0033] The central control module 101 is further configured to count the number of shipment trips of the mining truck device based on the precise location information of the mining truck device and the loading status of the mining truck device.

[0034] Specifically, the inertial navigation sensor is a sensor that integrates an accelerometer and a gyroscope, capable of measuring the acceleration, angular velocity, and attitude angle of the carrier in real time. The first inertial navigation sensor 102 measures the overall motion state information of the mining truck, namely the first motion state information, in real time and transmits the data to the central control module 101. A mining truck is a mining truck, a heavy-duty dump truck used in open-pit mines to complete rock and earth excavation and ore transportation tasks. The second inertial navigation sensor 103 measures the motion state information of the mining truck's bucket, namely the second motion state information, in real time and transmits the data to the central control module 101. The central control module 101 receives the first motion state information and the second motion state information. Based on the first motion state information, the central control module 101 uses an algorithm to determine the precise location information of the mining truck. Combining the first motion state information and the second motion state information, the central control module 101 analyzes the loading status of the mining truck, such as whether it is loading, transporting, or unloading. Based on the mining truck's precise location information and loading status, the central control module 101 determines whether the truck has completed a shipment. For example, it determines whether the truck has loaded the items, transported them from the loading area to the unloading area, and unloaded them at the unloading area. By counting the number of shipments, the truck's shipment trips can be calculated.

[0035] Optionally, the inertial navigation sensor is a highly shock-resistant micro-electromechanical system inertial navigation sensor.

[0036] Specifically, the highly seismic-resistant micro-electro-mechanical system (MEMS) inertial navigation sensor is an inertial measurement device based on MEMS technology. It boasts high seismic resistance and is able to withstand the severe vibration and shock found in complex and harsh environments like mines. The sensor integrates a high-precision accelerometer and gyroscope, enabling real-time measurement of the carrier's acceleration, angular velocity, and attitude angle.

[0037] The solution of the present application is a system for counting the number of shipments, including a central control module, a first inertial navigation sensor, and a second inertial navigation sensor; wherein the first inertial navigation sensor and the second inertial navigation sensor are both connected to the central control module, the first inertial navigation sensor is installed on the frame of the mining truck equipment, and the second inertial navigation sensor is installed on the bucket of the mining truck equipment; the first inertial navigation sensor is used to measure the first motion state information of the mining truck equipment in real time, and send the first motion state information to the central control module; the second inertial navigation sensor is used to measure the second motion state information of the bucket of the mining truck equipment in real time, and send the second motion state information to the central control module; the central control module is used to receive the first motion state information of the mining truck equipment and the second motion state information of the bucket, and determine the precise position information of the mining truck equipment based on the first motion state information; the central control module is also used to determine the loading state of the mining truck equipment based on the first motion state information and the second motion state information; the central control module is also used to count the number of shipments of the mining truck equipment based on the precise position information of the mining truck equipment and the loading state of the mining truck equipment. Specifically, the solution of this application, on the one hand, determines the precise location of the mining truck based on the first motion state information of the mining truck sent by the first inertial navigation sensor, thus avoiding the situation where the location of the mining truck obtained by GPS positioning technology may be inaccurate due to mine obstruction, thereby improving the accuracy of trip count. On the other hand, the loading state of the mining truck is determined based on the second motion state information, and the number of shipment trips of the mining truck is counted based on the precise location information and loading state, improving the accuracy of shipment trip count and the intelligence level of mine construction.

[0038] Figure 2 This is another structural diagram of the shipment number statistics system 01 provided by this application. Figure 2 As shown, the working process of the central control module 101 in the shipment trip statistics system 01 is further refined, and a description of the cloud platform module 104 in the system is added.

[0039] Optionally, the system further includes a cloud platform module 104 , which is connected to the central control module 101 .

[0040] The central control module 101 is also used to upload the number of shipment trips of the mining truck equipment to the cloud platform module 104.

[0041] The cloud platform module 104 is used to store the number of shipments of the mining truck equipment.

[0042] The cloud platform module 104 is further configured to return the shipping trip count of the mining truck device to the target user device upon receiving a trip count acquisition request sent by the target user device.

[0043] Specifically, the cloud platform module 104 is connected to the central control module 101 and is used to store and manage mining truck trip data and support data queries from user devices. The central control module 101 uploads the collected mining truck trip data to the cloud platform module 104. The cloud platform module 104 receives the mining truck trip data uploaded by the central control module 101 and stores it in a cloud database. This data includes, but is not limited to, trip counts, timestamps, precise location information of the mining truck, and loading status. The cloud platform module 104 supports long-term data storage, ensuring data security and integrity and facilitating subsequent data analysis and management. The cloud platform module 104 is capable of receiving trip count requests from target user devices. The target user device can be a terminal device in a mine management system, a mobile device, or other monitoring system. Upon receiving the trip count request, the cloud platform module 104 retrieves the corresponding mining truck trip data from the database and returns it to the target user device. The returned data can be real-time or historical data, depending on the user's needs. The cloud platform module 104 provides data visualization capabilities, presenting shipment trip data to users in the form of charts, reports, and other formats, enabling them to intuitively understand the operating status and efficiency of mining trucks. The cloud platform module 104 also supports data analysis functions, such as statistical analysis and trend analysis, to help users optimize mine transportation management. Through the cloud platform module 104, shipment trip data for all mining trucks is centrally stored and managed, facilitating unified monitoring and analysis. Users can query shipment trip data for mining trucks anytime, anywhere through their target user devices, enabling remote monitoring and management. The cloud platform module 104 provides data backup and recovery capabilities to ensure data security and reliability. The cloud platform module 104 supports integration with other mine management systems or equipment, facilitating the expansion of system functionality and application scenarios. The cloud platform module 104 can also count the number of shipments per day, compare it with the planned number of shipments for the day, and generate a daily efficiency analysis report for easy review by staff. The cloud platform module 104 is a module wirelessly connected to the central control module 101. Therefore, only the central control module 101, the first inertial navigation sensor 102 and the second inertial navigation sensor 103 are deployed in the mining truck equipment, thereby reducing the hardware installation cost and power consumption in the vehicle. In addition, the central control module 101 only uploads the number of shipments to the cloud platform module 104, and the cloud platform module 104 does not need to calculate the number of shipments, thereby reducing the dependence on real-time connection to the cloud and meeting the needs of unstable mining network.

[0044] Optionally, the central control module 101 is further configured to obtain location information of the mining truck device and vehicle speed information of the mining truck device.

[0045] The central control module 101 is used to determine the precise location information of the mining truck device according to the first motion state information, the location information and the vehicle speed information.

[0046] Specifically, obtaining the location information of the mining truck device can involve a positioning system (such as GPS) acquiring the mining truck device's geographic location information in real time and sending this information to the central control module 101. This location information includes longitude, latitude, and altitude. Obtaining vehicle speed information can involve a vehicle speed sensor measuring the mining truck device's speed in real time and sending this information to the central control module 101. This speed information includes the vehicle's real-time speed. In complex environments such as mines, GPS signals may be blocked or interfered with, resulting in reduced positioning accuracy. In this case, the central control module 101 combines the first motion state information from the first inertial navigation sensor 102 with the current vehicle speed obtained from the mining truck's onboard terminal and uses a data fusion algorithm to correct the location information to obtain the mining truck device's precise location information. For example, the data fusion algorithm can be a Kalman filter. By combining the first motion state information, location information, and vehicle speed information, the central control module 101 can provide highly accurate location information, maintaining good positioning performance even in complex environments. This makes the system suitable for a variety of mining scenarios and capable of stable operation in complex terrain and environments.

[0047] Optionally, the first motion state information includes first acceleration information, first angular velocity information and first attitude angle information of the mining truck device, and the second motion state information includes second acceleration information, second angular velocity information and second attitude angle information of the bucket.

[0048] The central control module 101 is further configured to determine the motion state of the mining truck device according to the first acceleration information, the first angular velocity information, the first attitude angle information and a preset state recognition algorithm of the mining truck device.

[0049] The central control module 101 is further configured to determine the motion state of the bucket based on the second acceleration information, the second angular velocity information, the second posture angle information, and a preset state recognition algorithm of the bucket.

[0050] The central control module 101 is further configured to determine a loading state of the mining truck according to the motion state of the mining truck and the motion state of the truck bed, wherein the loading state includes a transport state, a loading state, and an unloading state.

[0051] Specifically, the first acceleration information is the acceleration data of the entire mining truck, reflecting the acceleration or deceleration of the vehicle. The first angular velocity information is the angular velocity data of the entire mining truck, reflecting the rotation of the vehicle. The first attitude angle information is the attitude angle data of the entire mining truck, including the pitch angle, roll angle, and yaw angle, reflecting changes in the vehicle's attitude. The second acceleration information is the acceleration data of the truck bed, reflecting the acceleration or deceleration of the truck bed. The second angular velocity information is the angular velocity data of the truck bed, reflecting the rotation of the truck bed. The second attitude angle information is the attitude angle data of the truck bed, including the pitch angle, roll angle, and yaw angle, reflecting changes in the truck bed's attitude. Therefore, based on the first acceleration information, the first angular velocity information, and the first attitude angle information, detailed information about the entire driving process of the mining truck can be obtained. Based on the second acceleration information, the second angular velocity information, and the second attitude angle information, detailed information about the movement of the truck bed can be obtained, such as loading, unloading, and transporting items.

[0052] The central control module 101 determines the motion state of the mining truck based on the first acceleration information, the first angular velocity information, and the first attitude angle information, in conjunction with a preset state recognition algorithm. For example, the magnitude and direction of the acceleration can be used to determine whether the mining truck is accelerating, decelerating, or traveling at a constant speed. The magnitude and direction of the angular velocity can be used to determine whether the mining truck is turning or rotating. Changes in the attitude angle can be used to determine the pitch, roll, and yaw states of the mining truck. The central control module 101 determines the motion state of the truck bed based on the second acceleration information, the second angular velocity information, and the second attitude angle information, in conjunction with a preset state recognition algorithm. For example, the magnitude and direction of the acceleration can be used to determine whether the truck bed is subjected to impact, such as when loading or unloading items. The magnitude and direction of the angular velocity can be used to determine whether the truck bed is rotating or swinging. Changes in the attitude angle can be used to determine the pitch, roll, and yaw states of the truck bed, particularly changes in the truck bed's tilt angle, which can be used to determine loading or unloading operations. During operation, the truck bed remains stable, with no significant changes in acceleration or attitude angle. When loading a truck bed, there are noticeable sudden acceleration changes (such as impact) and attitude angle changes (such as changes in the bed's tilt angle). Similar sudden acceleration and attitude angle changes occur when unloading, but in the opposite direction. The pre-set state recognition algorithm can set an acceleration threshold. When the acceleration exceeds the threshold, it is identified as loading or unloading. It also sets an attitude angle change threshold. When the attitude angle changes exceed the threshold, it is identified as loading or unloading. These acceleration and attitude angle change thresholds can be dynamically adjusted based on actual transport conditions to avoid false positives caused by the turbulence of the mining area. The mining truck's current activity can be determined based on multiple vehicle data. For example, if the gear is in reverse and the inertial navigation pitch angle changes, it can be combined to determine that the mining truck is unloading, thereby reducing false positives from a single sensor. A time window mechanism is also incorporated, for example, only when the acceleration or attitude angle changes exceed the threshold multiple times in a row are detected, is a loading or unloading activity identified, improving the robustness of the judgment. For example, the preset state recognition algorithm can also be a time series model of a long-short-term memory network algorithm, which combines historical vehicle motion characteristics (such as bucket vibration frequency, vehicle acceleration changes, vehicle speed, rotational speed, gear position, etc.) to identify loading and unloading status, thereby improving recognition efficiency and accuracy through in-depth data analysis. By combining acceleration, angular velocity, and attitude angle information, the central control module 101 can accurately identify the motion status of the mining truck equipment and bucket, providing real-time data support for mine transport trip statistics.

[0053] Optionally, the central control module 101 is further configured to determine the number of times the mining truck device has transported items according to the precise location information of the mining truck device and the transportation status of the mining truck device.

[0054] The central control module 101 is further configured to determine the number of times the mining truck device loads and unloads items according to the loading status and unloading status of the mining truck device.

[0055] The central control module 101 is further configured to count the number of shipment trips of the mining truck device based on the number of times the mining truck device transports items and the number of times the mining truck device loads and unloads items.

[0056] Specifically, the central control module 101 obtains the precise location information of the mining truck through a positioning system and, based on a preset mine map and transportation route, determines whether the mining truck is in the process of transportation. The central control module 101 determines whether the mining truck is in the transportation state based on the mining truck's motion status (such as vehicle speed, acceleration, attitude angle, etc.). Based on the precise location information and transportation status of the mining truck, the central control module 101 counts the number of times the mining truck has transported items. For example, when the mining truck departs from the loading area and arrives at the unloading area, one item transport is recorded. The central control module 101 counts the number of loading and unloading operations based on the loading and unloading status of the mining truck. For example, when the truck bed completes a loading operation, one loading operation is recorded, and when the truck bed completes an unloading operation, one unloading operation is recorded. The central control module 101 comprehensively counts the number of loading and unloading trips of the mining truck based on the number of transportation and loading and unloading operations. For example, when the mining truck completes one item transport, and the truck bed completes one loading and one unloading operation, it is considered a complete loading trip. By combining precise location information, movement status, and loading status, the central control module 101 can accurately count the number of times a mining truck transports items, loads and unloads items, and the number of trips. The system automatically identifies status and counts trips, reducing manual intervention, improving work efficiency and accuracy, and enhancing statistical precision and environmental adaptability.

[0057] The system of the present application, through the cloud platform module, centrally stores and manages the shipping trip data of all mining trucks, which is convenient for unified monitoring and analysis. Combined with the first motion state information, position information and vehicle speed information, the central control module can provide high-precision position information, and can maintain good positioning performance even in complex environments, making the system suitable for a variety of mining scenarios and able to operate stably in complex terrain and environments. The central control module can accurately identify the motion state of mining trucks and truck beds, and provide real-time data support for mine transportation trip statistics. The system automatically completes status identification and number statistics, reduces manual intervention, and prevents data tampering, thereby improving work efficiency and accuracy.

[0058] Figure 3This is a flow chart of the shipping trip counting method provided by the present application. The method can be executed by a device integrated with the central control module 101 provided by the present application. The device can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device. For example, the electronic device can be a vehicle-mounted terminal. The following embodiments will be described using the system integrated into an electronic device as an example. Figure 3 , the method may specifically include the following steps:

[0059] Step 301: receiving first motion state information of a mining truck device sent by a first inertial navigation sensor and second motion state information of a bucket of the mining truck device sent by a second inertial navigation sensor.

[0060] Specifically, the first inertial navigation sensor detects and sends first motion state information of the mining truck device, the second inertial navigation sensor detects and sends second motion state information of the bucket of the mining truck device, and the central control module receives the first motion state information of the mining truck device sent by the first inertial navigation sensor and the second motion state information of the bucket of the mining truck device sent by the second inertial navigation sensor.

[0061] Step 302: Determine the precise location information of the mining truck device according to the first motion state information.

[0062] Specifically, the first inertial navigation sensor measures first motion state information of the mining truck in real time, such as first acceleration information, first angular velocity information, and first attitude angle information. The central control module extracts this motion state information and calculates the precise position of the mining truck using a data fusion algorithm based on the first motion state information and the initial position information of the mining truck.

[0063] Step 303: Determine the loading state of the mining truck device according to the second motion state information.

[0064] Specifically, the central control module receives the second motion state information from the second inertial navigation sensor and determines the loading state of the mining truck device in combination with a preset state recognition algorithm.

[0065] Step 304 : Count the number of shipment trips of the mining truck device based on the precise location information of the mining truck device and the loading status of the mining truck device.

[0066] Specifically, the central control module records the completion of each loading, transportation and unloading according to the precise location information and loading status, and performs statistics under the condition of meeting the number of complete shipment trips, thereby completing the statistics of the number of shipment trips of the mining truck equipment.

[0067] The specific implementation process and other optional implementation methods of this embodiment are the same as the optional implementation methods of the central control module in any of the above embodiments and will not be repeated here.

[0068] The solution of the present application receives first motion state information of a mining truck transmitted by a first inertial navigation sensor, and second motion state information of the truck's bucket transmitted by a second inertial navigation sensor; determines the precise location information of the mining truck based on the first motion state information; determines the loading state of the mining truck based on the second motion state information; and counts the number of shipment trips of the mining truck based on the precise location information and the loading state of the mining truck. Specifically, the solution of the present application, on the one hand, determines the precise location information of the mining truck based on the first motion state information transmitted by the first inertial navigation sensor, thereby avoiding the situation where the location of the mining truck obtained using GPS positioning technology may be inaccurate due to obstructions in the mine, thereby improving the accuracy of shipment trip statistics. On the other hand, the loading state of the mining truck is determined based on the second motion state information, and the number of shipment trips of the mining truck is counted based on the precise location information and the loading state, thereby improving the accuracy of shipment trip statistics and the intelligence level of mine construction.

[0069] The present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method for counting the number of shipments provided in any of the above embodiments is implemented.

[0070] The present application also provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the method for counting the number of shipment trips provided in any of the above embodiments.

[0071] Reference below Figure 4 , which shows a structural diagram of an electronic device 400 suitable for implementing the present application. Figure 4 The electronic device shown is only an example and should not bring any limitation to the function and scope of use of the present application.

[0072] like Figure 4 As shown, electronic device 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage portion 408 into a random access memory (RAM) 403. Various programs and data required for the operation of electronic device 400 are also stored in RAM 403. CPU 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to bus 404.

[0073] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output section 407 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 408 including a hard disk; and a communication section 409 including a network interface card such as a LAN card or a modem. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. Removable media 411, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 410 as needed, so that computer programs read therefrom can be installed into the storage section 408 as needed.

[0074] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 409, and / or installed from a removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, the above-mentioned functions defined in the system of the present application are executed.

[0075] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0076] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0077] The modules and / or units described in this application may be implemented in software or hardware, and may also be provided in a processor.

[0078] As another aspect, the present application further provides a computer-readable medium, which may be included in the device described in the above embodiments; or may exist independently without being incorporated into the device. The computer-readable medium carries one or more programs, and when the one or more programs are executed by a device, the device performs the following operations:

[0079] Receive first motion state information of a mining truck device sent by a first inertial navigation sensor, and second motion state information of a truck bed of the mining truck device sent by a second inertial navigation sensor; determine precise position information of the mining truck device based on the first motion state information; determine a loading state of the mining truck device based on the second motion state information; and count the number of shipment trips of the mining truck device based on the precise position information of the mining truck device and the loading state of the mining truck device.

[0080] According to the technical solution of the present application, first motion state information of a mining truck transmitted by a first inertial navigation sensor and second motion state information of the truck's bucket transmitted by a second inertial navigation sensor are received; precise location information of the mining truck is determined based on the first motion state information; the loading state of the mining truck is determined based on the second motion state information; and the number of shipment trips of the mining truck is counted based on the precise location information and the loading state of the mining truck. Specifically, the solution of the present application, on the one hand, determines the precise location information of the mining truck based on the first motion state information transmitted by the first inertial navigation sensor, thereby avoiding the situation where the location of the mining truck obtained using GPS positioning technology may be inaccurate due to obstructions in the mine, thereby improving the accuracy of shipment trip statistics. On the other hand, the loading state of the mining truck is determined based on the second motion state information, and the number of shipment trips of the mining truck is counted based on the precise location information and the loading state, thereby improving the accuracy of shipment trip statistics and the intelligence level of mine construction.

[0081] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the method for counting the number of shipment trips provided in any embodiment of the present application.

[0082] The computer program product, during implementation, may be written in one or more programming languages ​​or a combination thereof, for performing the operations of the present application, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0083] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this application can be achieved. This is not limited herein.

[0084] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A shipment trip statistics system, characterized in that: The system includes a central control module, a first inertial navigation sensor, and a second inertial navigation sensor; wherein the first inertial navigation sensor and the second inertial navigation sensor are both connected to the central control module, the first inertial navigation sensor is installed on the frame of the mining truck equipment, and the second inertial navigation sensor is installed on the bucket of the mining truck equipment; The first inertial navigation sensor is used to measure first motion state information of the mining truck device in real time and send the first motion state information to the central control module; The second inertial navigation sensor is used to measure the second motion state information of the bucket of the mining truck equipment in real time, and send the second motion state information to the central control module; The central control module is used to receive the first motion state information of the mining truck device and the second motion state information of the truck bucket, and determine the precise position information of the mining truck device according to the first motion state information; The central control module is further configured to determine a loading state of the mining truck device according to the first motion state information and the second motion state information; The central control module is further configured to count the number of shipment trips of the mining truck device according to the precise location information of the mining truck device and the loading status of the mining truck device.

2. The shipment trip statistics system according to claim 1, characterized in that: The central control module is also used to obtain the location information of the mining truck device and the speed information of the mining truck device; The central control module is used to determine the precise location information of the mining truck device according to the first motion state information, the location information and the vehicle speed information.

3. The shipment trip statistics system according to claim 1, characterized in that: The first motion state information includes first acceleration information, first angular velocity information, and first attitude angle information of the mining truck device, and the second motion state information includes second acceleration information, second angular velocity information, and second attitude angle information of the truck bucket; The central control module is further configured to determine the motion state of the mining truck device according to the first acceleration information, the first angular velocity information, the first attitude angle information and a preset state recognition algorithm of the mining truck device; The central control module is further configured to determine the motion state of the bucket based on the second acceleration information, the second angular velocity information, the second attitude angle information of the bucket and a preset state recognition algorithm; The central control module is further configured to determine a loading state of the mining truck device according to a motion state of the mining truck device and a motion state of the truck bed; wherein the loading state includes a transport state, a loading state, and an unloading state.

4. The shipment trip statistics system according to claim 3, characterized in that: The central control module is further configured to determine the number of times the mining truck device has transported items based on the precise location information of the mining truck device and the transportation status of the mining truck device; The central control module is further configured to determine the number of times the mining truck device is loaded and unloaded according to the loading and unloading status of the mining truck device; The central control module is further configured to count the number of shipment trips of the mining truck device according to the number of times the mining truck device transports items and the number of times the mining truck device loads and unloads items.

5. The shipment trip statistics system according to claim 1, characterized in that: The system further comprises a cloud platform module, wherein the cloud platform module is connected to the central control module; The central control module is also connected to upload the number of shipments of the mining truck equipment to the cloud platform module; The cloud platform module is used to store the number of shipments of the mining truck equipment; The cloud platform module is further configured to return the shipping trip count of the mining truck device to the target user device upon receiving a trip count acquisition request sent by the target user device.

6. The shipment trip counting system according to claim 1, characterized in that: The inertial navigation sensor is a highly seismic-resistant micro-electromechanical system inertial navigation sensor.

7. A method for counting shipment trips, characterized in that: The method comprises: receiving first motion state information of the mining truck device sent by the first inertial navigation sensor and second motion state information of the bucket of the mining truck device sent by the second inertial navigation sensor; Determine the precise location information of the mining truck device according to the first motion state information; Determining a loading state of the mining truck device according to the second motion state information; The number of shipment trips of the mining truck device is counted according to the precise location information of the mining truck device and the loading status of the mining truck device.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for counting the number of shipment trips as claimed in claim 7 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for counting the number of shipment trips as described in claim 7 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, it implements the method for counting the number of shipment trips as claimed in claim 7.

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