Unloading vehicle unmanned operation control system and method and storage medium

Abstract

The invention relates to an unmanned operation control system and method of a discharging car and a storage medium, and relates to the technical field of aluminum oxide production, and the unmanned operation control system comprises the steps that a wireless network module covers an operation area through a wireless network; the real-time position distance between the discharging trolley and the target grinding head stock bin is positioned through a positioning module; the height of mineral aggregate in the bin grid is monitored through the material level monitoring module; and the center control management module controls the unloading vehicle to move to the real-time position distance, and the ore raw materials transported by the unloading vehicle are unloaded into the bins until the height of the ore materials is equal to the preset height of the ore materials. According to the scheme, an operator does not need to go to the site personally and only needs to remotely control the unloading vehicle at the central control management module, direct exposure in a high-dust environment is avoided, the risk of suffering from occupational diseases such as pneumoconiosis is reduced, interference of steam and dust in a high-humidity environment is avoided, the position information of the unloading vehicle can be accurately obtained, and the working efficiency is improved. Positioning deviation caused by visual interference is avoided, and material leakage or blockage accidents are avoided.

Description

Technical Field

[0001] The present disclosure relates to the technical field of alumina production, and in particular to an unmanned operation control system, method, and storage medium for a discharge truck. Background Art

[0002] In the alumina production process, the mill head bin unloader is a core piece of equipment in the raw material conveying system, responsible for continuously and evenly feeding the bauxite stored in the bin to the grinding mill. Currently, conventional unloaders primarily utilize manual operation or semi-automatic control, requiring operators to manually adjust the unloader's path, discharge port opening, and vibration frequency based on bin monitoring data.

[0003] Due to the extremely high dust concentration in the operating environment, long-term exposure can easily lead to occupational diseases such as pneumoconiosis among operators. Furthermore, the positioning of unloading trucks currently relies primarily on visual judgment. However, in high-humidity environments, the steam and dust in the silo interfere severely, resulting in alignment errors between the unloading truck and the silo often exceeding ±50mm. This positioning error can easily cause misalignment between the unloading port and the silo, leading to material leaks or blockages. This not only increases clearing and maintenance costs but also leads to discontinuous material feeding, hampering overall production efficiency. Summary of the Invention

[0004] In view of this, the present disclosure provides an unmanned operation control system, method and storage medium for a discharge truck, the main purpose of which is to solve the current technical problems that due to the extremely high dust concentration in the working environment, long-term exposure can easily cause operators to suffer from occupational diseases such as pneumoconiosis, and the current positioning of the discharge truck mainly relies on the operator's visual judgment, but in a high-humidity working environment, the steam and dust in the warehouse seriously interfere with each other, which will cause the discharge truck and the warehouse grid to have a positioning deviation, resulting in leakage or blockage accidents.

[0005] According to a first aspect of the present disclosure, an unmanned control system for a discharge truck is provided, wherein the unmanned control system is used to control the discharge truck, and the system comprises: a wireless network module, a positioning module, a material level monitoring module, and a central control management module, wherein the wireless network module, the positioning module, and the material level monitoring module are all connected to the central control management module;

[0006] The wireless network module is used to cover the operating area through a wireless network, so that the unloading vehicle and the central control management module can communicate through the wireless network;

[0007] The positioning module is used to locate the real-time position distance between the unloading vehicle and the unloading port of the corresponding compartment of the target grinding head silo;

[0008] The material level monitoring module is used to monitor the height of the mineral material in the bin;

[0009] The central control management module is used to control the unloading vehicle to move to an operating area where the distance from the real-time position is less than or equal to a first preset distance threshold, and unload the ore raw materials transported by the unloading vehicle into the bin until the ore height is equal to the preset ore height.

[0010] According to a second aspect of the present disclosure, a method for controlling an unmanned operation of a dump truck is provided. The method is applied to the unmanned operation control system of the dump truck, and the method comprises:

[0011] Locate the real-time distance between the unloading vehicle and the unloading port of the target grinding head silo, and monitor the height of the ore in the silo;

[0012] The unloading vehicle is controlled to move to an operating area where the distance from the real-time position is less than or equal to a first preset distance threshold, and the ore raw materials transported by the unloading vehicle are unloaded into the bin until the ore height is equal to the preset ore height.

[0013] According to a third aspect of the present disclosure, an electronic device is provided, comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor implements the method of the second aspect when executing the computer program.

[0014] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the method of the aforementioned second aspect.

[0015] By means of the above technical solution, the present disclosure provides an unmanned operation control system, method and storage medium for a discharge truck. Compared with the current existing technology, the present disclosure can cover the working area through the wireless network module through the wireless network, so that the discharge truck and the central control management module can communicate through the wireless network; locate the real-time position distance between the discharge truck and the corresponding bin discharge port of the target grinding head silo through the positioning module; monitor the height of the ore in the bin through the material level monitoring module; control the discharge truck to move to the working area where the real-time position distance is less than or equal to the first preset distance threshold through the central control management module, and unload the ore raw materials transported by the discharge truck into the bin until the ore height is equal to the preset ore height.

[0016] Through the solution disclosed in the present invention, a wireless network module is used to build a wireless network covering the operating area, so that the unloading truck and the central control management module can communicate through the wireless network. The operator does not need to be present on site, but only needs to operate at the central control management module to remotely control the operation of the unloading truck, avoiding direct exposure to a high-dust environment, thereby reducing the risk of occupational diseases such as pneumoconiosis. The positioning module locates the distance between the unloading truck and the corresponding bin discharge port of the target grinding head silo in real time, providing a reliable basis for the precise movement of the unloading truck. Compared with manual visual judgment, the positioning module is not affected by steam and dust in a high-humidity environment, and can accurately obtain the position information of the unloading truck, avoiding positioning deviations caused by visual interference.

[0017] The material level monitoring module monitors the material height within the bin in real time. Based on the real-time location distance provided by the positioning module and the material height information provided by the material level monitoring module, the central control management module precisely controls the unloading vehicle to move to the appropriate position and accurately unloads the ore raw materials transported by the unloading vehicle into the bin until the material level reaches the preset level. This precise control method effectively prevents material leakage and blockage accidents.

[0018] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0020] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 A schematic structural diagram of an unmanned control system for a dump truck provided by an embodiment of the present disclosure is shown;

[0022] Figure 2 A schematic flow chart of an unmanned operation control method for a dump truck provided by an embodiment of the present disclosure is shown;

[0023] Figure 1 middle:

[0024] 1- Wireless network module;

[0025] 2- Positioning module;

[0026] 3-Material level monitoring module;

[0027] 4- Central control management module;

[0028] 5- Video surveillance module;

[0029] 6-Safety protection module. DETAILED DESCRIPTION

[0030] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the present disclosure, "plurality" means two or more, unless otherwise specifically defined.

[0032] In this disclosure, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0033] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0034] To address the current technical issues of extremely high dust concentrations in the working environment, which can easily lead to long-term exposure to occupational diseases such as pneumoconiosis among operators, and the fact that the positioning of current unloading trucks relies mainly on the operator's visual judgment, but in high-humidity working environments, the steam and dust in the warehouse seriously interfere with each other, causing positioning deviations between the unloading truck and the warehouse, resulting in material leakage or blockage accidents, the presently disclosed embodiments provide an unmanned operation control system, method, and storage medium for unloading trucks.

[0035] like Figure 1 As shown, an embodiment of the present disclosure provides an unmanned operation control system for a unloading truck, which includes: a wireless network module 1, a positioning module 2, a material level monitoring module 3, and a central control management module 4; wherein the wireless network module 1, the positioning module 2, and the material level monitoring module 3 are all connected to the central control management module 4.

[0036] In the embodiment of the present disclosure, the wireless network module 1 can be used to cover the operating area through the wireless network, so that the unloading vehicle and the central control management module 4 can communicate through the wireless network.

[0037] Wireless network module 1 can be used to deploy wireless network base stations within the work area, ensuring comprehensive wireless network coverage throughout the entire area. Wireless network module 1 can utilize industrial-grade wireless communication equipment with high stability and anti-interference capabilities to ensure real-time and stable data transmission between the unloading vehicle and the central control management module 4. For example, a wireless module supporting 5G communication technology can be selected, as its high speed and low latency characteristics meet the system's data transmission requirements.

[0038] Specifically, a wireless network can be built by installing two sets of wireless access points on site to cover the entire unloading area. At the same time, a wireless adapter can be installed on the unloading truck. The wireless adapter on the unloading truck communicates with the wireless AP on site.

[0039] Through this communication method, various signals (such as positioning signals, control signals, status monitoring signals, etc.) can be guaranteed to interact in a timely manner, preparing for the subsequent integration of these signals into the central control system for unified management.

[0040] For the embodiment of the present disclosure, the positioning module 2 can be used to locate the real-time position distance between the unloading vehicle and the unloading port of the corresponding bin of the target grinding head bin.

[0041] Specifically, positioning module 2 can install positioning sensors at the discharge vehicle and the corresponding bin discharge port of the target grinding head silo. By receiving signals from these sensors, positioning module 2 calculates the real-time position and distance between the discharge vehicle and the bin discharge port in real time. The positioning sensors can use high-precision LiDAR or ultra-wideband (UWB) positioning technology, achieving centimeter-level positioning accuracy, effectively preventing material leaks or blockages caused by positioning errors.

[0042] As a possible method, a precise positioning system can be built, and two positioning devices can be installed on the unloading truck. One of them is used to locate the real-time position distance between the unloading truck and the bin unloading port, and the other is used to detect the height of the ore in the ore bin.

[0043] The positioning system can adopt a micro-power laser ranging system, which has great advantages in medium and long distance ranging and positioning applications, specifically in its strong dust resistance, high precision, easy installation and durability.

[0044] In the embodiment of the present disclosure, the material level monitoring module 3 can be used to monitor the height of the mineral material in the bin.

[0045] Specifically, the material level monitoring module 3 can be a material level sensor installed in each cell. By reading the data from these sensors, the material level monitoring module 3 can monitor the material level in the cell in real time. The material level sensor can be a radar level meter or an ultrasonic level meter, which has high measurement accuracy and strong reliability and can accurately reflect the material level in the cell.

[0046] For the embodiment of the present disclosure, the central control management module 4 can be used to control the unloading truck to move to an operating area where the real-time position distance is less than or equal to the first preset distance threshold, and unload the ore raw materials transported by the unloading truck into the bin until the ore height is equal to the preset ore height.

[0047] Among them, the central control management module 4 can integrate various intelligent devices (such as laser radar position meters, radar pulse measurement level meters) and other devices into the distributed control system (DCS) through wireless network modules. Only central control operations can be performed to realize functions such as starting and stopping the unloading trolley and opening the unloading baffle to unload. At the same time, a control box is placed on site to cope with the scene where the centralized control personnel go to the grinding head warehouse for inspection and need to control the unloading trolley. In addition, the central control system has the functions of centrally processing information from various systems, completing reception, data collection and interaction, strategy adjustment, task issuance, etc. In the unmanned operation system of the grinding head warehouse, it is responsible for: IoT data reception, command issuance, data storage, data processing and data application interface. The central control management system supports large-scale, high-concurrency data processing, supports multi-server cascading, and supports the management and configuration of various complex data mapping rules, calculation methods and data processing methods.

[0048] Specifically, the central control management module 4 can be a high-performance industrial computer equipped with specialized control software. This software features data processing, logical analysis, and command transmission. It controls the operation of the unloading vehicle based on information provided by the positioning module 2 and the material level monitoring module 3. Furthermore, the central control management module 4 includes a human-computer interface, allowing operators to set operating parameters and monitor operating status.

[0049] In the embodiment of the present disclosure, before starting the operation, the operator can set relevant parameters on the human-computer interaction interface of the central control management module 4, which may include a first preset distance threshold, a preset ore height, etc. At the same time, the operating status of each module is checked to ensure the normal operation of the system.

[0050] Among them, the first preset distance threshold can be the maximum distance allowed between the unloading truck and the unloading port of the corresponding compartment of the target grinding head silo. When the real-time position distance between the unloading truck and the unloading port is less than or equal to the threshold, the central control management module 4 can control the unloading truck to perform unloading operations, so as to ensure the accuracy and safety of unloading, and avoid materials from being scattered or unable to enter the compartment accurately due to excessive distance.

[0051] The preset mineral material height can be the maximum mineral material stacking height allowed in the bin. When the material level monitoring module 3 detects that the mineral material height in the bin reaches the preset value, the central control management module 4 will stop the unloading operation to prevent the mineral material from overflowing the bin, causing waste of resources and environmental pollution, while ensuring the normal progress of subsequent operations.

[0052] The operator issues a start command on the central control management module 4, and the unloading vehicle starts to operate. The positioning module 2 can obtain the real-time position distance between the unloading vehicle and the unloading port of the corresponding bin of the target grinding head silo in real time, and transmit the data to the central control management module 4.

[0053] The central control management module 4 can determine whether the unloading vehicle has reached the target position (i.e., the real-time position distance is less than or equal to the first preset distance threshold) based on the real-time position distance provided by the positioning module 2. If it has not reached the target position, the central control management module 4 can send a movement instruction to the unloading vehicle to control the unloading vehicle to continue moving until it reaches the target position.

[0054] When the unloading vehicle reaches its target location, the material level monitoring module 3 monitors the material level within the bin in real time and transmits this data to the central control management module 4. Based on this data, the central control management module 4 controls the unloading vehicle to unload the transported ore material into the bin. During the unloading process, the material level monitoring module 3 continuously monitors the material level. When the material level reaches a preset level, the central control management module 4 sends a stop command to the unloading vehicle, completing the unloading operation.

[0055] After the unloading operation is completed, the unloading vehicle returns to its initial position and waits for the next operation instruction. The central control management module 4 can record the relevant data of this operation, such as unloading time, unloading amount, material level change, etc., for subsequent analysis and statistics.

[0056] The unmanned control system disclosed herein enables unmanned operation of the unloading truck, eliminating the need for operators to be physically present at the work site and effectively preventing the health hazards of dust. Furthermore, the high-precision measurement capabilities of the positioning module 2 and the material level monitoring module 3 ensure precise positioning and accurate unloading of the unloading truck, preventing leaks or blockages and improving production efficiency and product quality.

[0057] After the unmanned control system for the grinding head bin is added to the unloading trolley, the central control system can realize functions such as starting and stopping the unloading trolley and opening the unloading baffle to unload, without the need for staff to be on-site. Currently, most alumina plants have more than three people working in the grinding head bin, with four shifts and three shifts. After the implementation of this disclosure, two people can be optimized in each shift, for a total of eight people. Given that the grinding head bin position is a high-risk position, the average pre-deduction salary is calculated at 150,000 yuan / year, which can bring in 15*8=1.2 million yuan / year in revenue. The remaining one person only needs to occasionally visit the site for inspection, reducing the labor intensity and hazards of employees.

[0058] For the embodiment of the present disclosure, the central control management module 4 can be specifically used to: if the real-time position distance is greater than the second preset distance threshold, control the inverter of the unloading vehicle to start the soft acceleration function of the motor until the real-time position distance is less than or equal to the second preset distance threshold, control the inverter to start the soft deceleration function of the motor, and dynamically adjust the motor speed to ensure that the unloading vehicle approaches the bin unloading port at a speed lower than the preset speed, wherein the second preset distance threshold is greater than the first preset distance threshold;

[0059] When the unloading vehicle moves to an operating area where the distance from the real-time position is less than or equal to the first preset distance threshold, the motor power supply is cut off and the inertia braking function is activated;

[0060] Unload the ore raw materials transported by the unloading truck into the bin until the ore height is equal to the preset ore height.

[0061] Advanced programmable logic controllers (PLCs) can be used in conjunction with frequency converters and encoders to achieve precise positioning. The PLC and frequency converter allow for soft starting and stopping of the unloading vehicle. This means the frequency converter changes the speed of the drive, gradually accelerating during startup and gradually decelerating during shutdown. A pre-installed laser accurately detects the unloading vehicle's position, enabling low-inertia positioning and braking. A trolley position detection laser is installed at each feed port to ensure accurate movement of the trolley to that location, providing position feedback to prevent material from being discharged outside the silo.

[0062] Specifically, positioning module 2 can obtain the real-time position and distance between the unloading vehicle and the bin discharge port and transmit this data to central control management module 4. Central control management module 4 can determine whether the real-time position distance is greater than a second preset distance threshold (e.g., 5 meters). If the real-time position distance is greater than the second preset distance threshold, central control management module 4 can send a control command to the inverter to activate the motor's soft acceleration function.

[0063] The inverter gradually increases the motor's power supply frequency according to control commands, slowly increasing the motor speed and accelerating the unloading vehicle. During the soft acceleration process, the central control management module 4 continuously monitors the real-time position and distance to ensure smooth acceleration of the unloading vehicle, avoiding equipment vibration or material spillage caused by sudden acceleration.

[0064] When the real-time position distance is less than or equal to the second preset distance threshold, the central control management module 4 can control the inverter to start the soft speed reduction function of the motor. The inverter gradually reduces the power supply frequency of the motor, causing the motor speed to slowly decrease, and the unloading vehicle begins to slow down.

[0065] At the same time, the central control management module 4 can dynamically adjust the motor speed based on the real-time distance. For example, when the real-time distance is between 3 and 5 meters, the motor speed is adjusted to 70% of the rated speed; when the real-time distance is between 1 and 3 meters, the motor speed is adjusted to 40% of the rated speed; and when the real-time distance is between 0.5 and 1 meter, the motor speed is adjusted to 20% of the rated speed. This dynamic speed adjustment ensures that the unloading vehicle approaches the bin discharge port at a speed lower than a preset speed (e.g., 30% of the rated speed), avoiding collisions caused by excessive speed.

[0066] When the unloading vehicle moves to an operating area where the distance from the real-time position is less than or equal to a first preset distance threshold (e.g., 0.5 meters), the central control management module 4 cuts off the motor power and activates the inertia braking function. At this point, the unloading vehicle continues to move forward by its own inertia, while the braking system starts to work, gradually reducing the speed of the unloading vehicle.

[0067] During inertia braking, the central control management module 4 continuously monitors the speed and position of the unloading vehicle. If the unloading vehicle's speed decreases too quickly or too slowly, or its position deviates abnormally, the central control management module 4 can promptly adjust the braking parameters to ensure that the unloading vehicle stops smoothly and accurately near the unloading opening of the bin.

[0068] Once the unloading vehicle has accurately stopped near the bin's discharge port, the central control management module 4 sends a command to the unloading device of the unloading vehicle to begin unloading the transported ore into the bin. The material level monitoring module 3 monitors the ore level within the bin in real time and transmits this data to the central control management module 4. The central control management module 4 determines whether the ore level reaches the preset ore level. When the ore level reaches the preset value, the central control management module 4 sends a stop unloading command to the unloading device, completing the unloading operation. Upon completion, the central control management module 4 controls the unloading vehicle to return to its initial position and await the next operation command.

[0069] The central control management module 4 disclosed herein enables precise speed control and safe braking of the unloading vehicle, preventing collisions between the unloading vehicle and the bin discharge port, thereby increasing the equipment's service life and operational safety. Furthermore, material level monitoring and an automatic unloading stop mechanism ensure that the ore does not overflow the bin, improving operational accuracy and efficiency.

[0070] For the embodiment of the present disclosure, the central control management module 4 can be further used to: obtain the position distance between the unloading vehicle and the bin unloading port recorded by the moisture-proof encoder, wherein the moisture-proof encoder is used to determine the position distance based on the difference between the total position distance between the unloading vehicle and the bin unloading port before the unloading vehicle is started and the travel distance of the unloading vehicle;

[0071] If the position deviation between the position distance recorded by the moisture-proof encoder and the real-time position distance recorded by the positioning module 2 is greater than the preset position deviation threshold, the deviation correction program is triggered to eliminate the data contradiction between the position distance recorded by the moisture-proof encoder and the real-time position distance recorded by the positioning module 2;

[0072] If the position deviation between the position distance recorded by the moisture-proof encoder and the real-time position distance recorded by the positioning module 2 is less than or equal to the preset position deviation threshold, the alignment is determined to be successful, the motor power supply is cut off, and the inertia braking function is activated;

[0073] Control the opening of the unloading baffle of the unloading vehicle to unload the ore raw materials into the bin until the ore height is equal to the preset ore height.

[0074] Specifically, before the unloading vehicle is started, the total position distance between the unloading vehicle and the unloading opening of the bin can be recorded (the initial total position distance can be obtained by manual measurement or other reliable methods and input into the central control management module 4). During the operation of the unloading vehicle, the distance traveled by the unloading vehicle can be recorded in real time using a moisture-proof encoder. Based on the difference between the total position distance and the travel distance, the central control management module 4 can calculate the position distance between the unloading vehicle and the unloading opening recorded by the moisture-proof encoder. For example, if the initial total position distance is 12 meters and the unloading vehicle has traveled 3 meters, the position distance recorded by the moisture-proof encoder is 12-3=9 meters.

[0075] The positioning module 2 can obtain the real-time position distance between the unloading vehicle and the unloading port of the bin in real time and transmit the data to the central control management module 4. For example, the positioning module 2 can use laser ranging or GPS positioning technology to measure the distance between the unloading vehicle and the unloading port in real time, such as 9.2 meters.

[0076] The central control management module 4 receives the distance recorded by the moisture-proof encoder and the real-time distance recorded by the positioning module 2 and calculates the position deviation between the two. For example, if the distance recorded by the moisture-proof encoder is 9 meters and the real-time distance recorded by the positioning module 2 is 9.2 meters, the position deviation is |9-9.2| = 0.2 meters.

[0077] The central control management module 4 may compare the calculated position deviation with a preset position deviation threshold (eg, 0.1 meter). If the position deviation is greater than the preset position deviation threshold, the central control management module 4 may trigger a deviation correction procedure.

[0078] The correction program can send instructions to the motor and braking system of the unloading vehicle according to the size and direction of the position deviation, and dynamically adjust the position of the unloading vehicle. For example, if the position deviation is positive (that is, the position distance recorded by the moisture-proof encoder is less than the real-time position distance recorded by the positioning module 2), it means that the actual position of the unloading vehicle is closer to the bin unloading port than the expected position. The central control management module 4 controls the motor to slow down or reverse to make the unloading vehicle retreat a certain distance; if the position deviation is negative, it means that the actual position of the unloading vehicle is farther away from the bin unloading port than the expected position. The central control management module 4 controls the motor to accelerate to make the unloading vehicle move forward a certain distance. During the correction process, the central control management module 4 continuously monitors the position distance recorded by the moisture-proof encoder and the positioning module 2, and adjusts the correction instruction in real time until the position deviation is less than or equal to the preset position deviation threshold.

[0079] If the position deviation is less than or equal to the preset position deviation threshold, the central control management module 4 determines that the unloading vehicle has been successfully aligned. The central control management module 4 then sends a power-off command to the unloading vehicle's motor and simultaneously activates the inertia braking function. After the unloading vehicle's motor is de-energized, it continues forward under its own inertia. The braking system then kicks in, gradually slowing the unloading vehicle until it comes to a stable stop near the unloading opening of the bin.

[0080] When the unloading vehicle stops accurately near the unloading port of the bin, the central control management module 4 can send an instruction to the unloading damper control device to control the opening of the unloading damper to unload the ore raw materials into the bin.

[0081] During the unloading process, a material level monitoring device (such as an ultrasonic or radar level meter) monitors the material level within the bin in real time and transmits this data to the central control management module 4. The central control management module 4 determines whether the material level reaches a preset material level. When the material level reaches the preset material level, the central control management module 4 sends a stop-unloading command to the unloading damper control device, closing the unloading damper and completing the unloading operation.

[0082] The central control management module 4 disclosed herein enables precise monitoring and dynamic deviation correction of the unloading vehicle's position, effectively resolving the issue of inaccurate position detection in traditional unloading operations and improving the accuracy and reliability of the unloading vehicle's alignment. Furthermore, through material level monitoring and an automatic unloading stop mechanism, the ore is prevented from overflowing the bin, improving the accuracy and efficiency of the unloading operation.

[0083] The precise positioning system disclosed in the present invention adopts laser radar ranging, and a laser radar ranging is installed on the unloading trolley, and a moisture-proof encoder is used. In addition, an advanced PLC is used in conjunction with a frequency converter and an encoder to achieve accurate positioning. The unloading trolley realizes soft starting and soft stopping through the PLC and the frequency converter, that is, the speed of the driving device is changed through the frequency converter, and it gradually accelerates from slow when starting and gradually slows down when stopping. Then, the position of the unloading trolley is accurately detected by the pre-installed laser to achieve low-inertia positioning braking. At the 5 material port positions, a trolley position detection laser is installed at each material port to ensure that the trolley moves to the position accurately. Each position is fed back with information to prevent the ore from being unloaded outside the silo. The present invention completely changes the problem of inaccurate unloading of manually operated unloading trolleys, and solves the positioning method of the existing semi-automatic system using a track encoder + limit switch, but the encoder is easily affected by moisture and condensation, resulting in pulse count distortion, and the cumulative positioning drift rate reaches 0.3% / hour, requiring frequent manual calibration.

[0084] For the embodiment of the present disclosure, the central control management module 4 can also be specifically used for: during the process of unloading the ore raw materials into the bin, if the real-time position distance is monitored to be greater than the first preset distance threshold, then the unloading baffle of the unloading vehicle is controlled to be closed.

[0085] Specifically, during the unloading process, the positioning module 2 can continuously obtain the position distance information between the unloading vehicle and the bin unloading port in real time, and transmit the data to the central control management module 4 at a certain frequency (such as once per second).

[0086] After receiving the real-time position distance data transmitted by the positioning module 2, the central control management module 4 compares it with a pre-set first distance threshold. If the current real-time position distance is less than or equal to the first preset distance threshold, the central control management module 4 may continue to keep the unloading damper open, allowing the unloading operation to proceed normally. If the current real-time position distance is greater than the first preset distance threshold, the central control management module 4 may determine that the unloading vehicle's position is abnormal.

[0087] The central control module 4 can immediately send a closing command to the discharge damper control device. Upon receiving the closing command, the discharge damper control device can immediately control the discharge damper to close, preventing further discharge of the ore material. The discharge damper can be electrically or hydraulically driven to ensure rapid and reliable closing upon receiving the command. For example, upon receiving the closing signal, the motor of an electrically driven discharge damper quickly reverses, driving the damper to close. The entire closing process can be completed within 1-2 seconds.

[0088] While controlling the closing of the unloading damper, the central control management module 4 can trigger the abnormality alarm device to send an alarm signal to the operator. The alarm signal can be an audible alarm (such as a buzzer), a light alarm (such as a flashing indicator light), or a combination of the two, to remind the operator that there is an abnormality in the unloading vehicle position and that timely action is required.

[0089] The central control management module 4 disclosed herein monitors and controls the real-time position and distance during the unloading process. When the unloading vehicle's position becomes abnormal, the unloading damper can be quickly closed, effectively preventing the spillage of ore and raw materials, reducing material waste and safety accidents. Furthermore, the abnormality alarm mechanism can promptly detect problems, improving the reliability and stability of the unloading operation.

[0090] For the embodiment of the present disclosure, the unmanned control system of the unloading trolley also includes: a video monitoring module 5, which is connected to the central control management module 4; the video monitoring module 5 is used to monitor the unloading port of the unloading trolley, the walking track of the unloading trolley, the belt and the operation status of each key operating part.

[0091] Specifically, two cameras can be installed on the unloading trolley. One camera can be installed near the unloading port of the unloading trolley, with the lens facing the port. This camera can be used to monitor the unloading of ore raw materials from the unloading port in real time, including the unloading speed, whether the unloading is uniform, and whether there are any material blockages. The other camera can be installed in a suitable position above the unloading trolley's travel track, with the lens covering the travel track. This camera can be used to monitor the unloading trolley's operation on the track, such as whether there are any obstacles blocking the track and whether the travel is smooth.

[0092] Cameras can be installed on the belt and key operating parts (such as the motor, reducer, and coupling). Depending on the length and direction of the belt, cameras can be installed at the starting end, middle section, and end of the belt to ensure comprehensive monitoring of the belt's operating status, such as whether the belt is deviating, damaged, and the material conveying condition on the belt. At least one camera should be installed near each key operating part to observe vibration, temperature, lubrication, and other conditions during operation.

[0093] Based on actual on-site conditions, blind spots in the unloading operation can be identified. For example, eight new cameras were installed in areas with potential blind spots, such as turns on unloading carts and areas blocked by equipment, ensuring the entire unloading operation is completely clear of blind spots and meeting the comprehensive remote monitoring requirements of the production process.

[0094] All installed cameras and newly added cameras can be connected to the video surveillance module 5 via video transmission cables (such as network cables, coaxial cables, etc., depending on the device interface and transmission distance). The video surveillance module 5 uses a high-performance video capture card or network video recorder (NVR) to capture, encode, and store multiple video signals.

[0095] The video monitoring module 5 and the central control management module 4 can be connected via a communication interface (such as RS485, Ethernet, etc.) to achieve data interaction and sharing. The central control management module 4 can perform operations such as parameter setting and video playback control on the video monitoring module 5.

[0096] The output signal of the video surveillance module 5 can be connected to a computer. By installing the corresponding video surveillance software, the computer can realize the display, storage, and playback functions of the real-time monitoring images. After the equipment is connected, the debugging work is carried out to ensure that the images of all cameras are clear, the transmission is stable, and the communication between the video surveillance module 5 and the central control management module 4 is normal.

[0097] The video monitoring module 5 can store the monitoring images of all cameras in real time, and the storage time can be set according to actual needs (such as storing 30 days of video data). The stored video data is saved in the form of files on the computer's hard disk or external storage device for subsequent query and playback.

[0098] The central control management module 4 can be linked to the video monitoring module 5. The central control management module 4 integrates and analyzes the video data collected by the video monitoring module 5 with other production data (such as the operating speed of the unloading vehicle, the conveyor belt capacity, and equipment operating parameters). For example, by analyzing the relationship between the material unloading speed and the unloading vehicle operating speed in the unloading port monitoring image, the unloading operation parameter settings can be optimized. By observing the operating images and temperature data of key operating parts, potential equipment failures can be identified in advance and preventive maintenance can be performed.

[0099] The disclosed unloading system enables real-time remote monitoring of the unloading trolley's discharge port, running tracks, belts, and other key operating components, significantly improving unloading safety and production efficiency. Operators can promptly detect and address abnormalities, reducing the risk of equipment damage and material leaks, and lowering production costs.

[0100] For the embodiment of the present disclosure, the discharge port of the unloading trolley may be provided with an anti-blocking switch; the anti-blocking switch is used to stop the belt motor from operating when the discharge port is blocked.

[0101] Specifically, the unloading trolley is mainly composed of a vehicle body, a traveling mechanism, a hopper, a discharge port, and a belt conveyor. The vehicle body is mounted on the traveling mechanism and can move on tracks. The hopper is used to receive materials, and the discharge port can be located at the bottom of the hopper, through which materials can fall onto the belt. The belt conveyor is driven by a belt motor and transports the materials on the belt to the designated location.

[0102] During the actual unloading process, the discharge port is prone to blockage due to the properties of the material (such as high humidity, uneven particle size, etc.), excessive discharge speed, or unreasonable discharge port design. When the discharge port is blocked, the material cannot fall normally and will accumulate at the discharge port, causing the material to continue to increase on the belt, which may cause belt overload, motor damage, and even cause safety accidents, seriously affecting the normal operation of production.

[0103] Therefore, it's important to select an anti-blocking switch that's appropriate for the discharge port's environment and operating requirements. Considering the potential for dust and material impact at the discharge port, consider using a dust-proof, moisture-proof, and impact-resistant anti-blocking switch, such as a capacitive proximity switch or a mechanical travel switch. Capacitive proximity switches detect the presence of an object using changes in capacitance, eliminating the need for direct contact with the material and offering high sensitivity and reliability. Mechanical travel switches, on the other hand, rely on material compression or impact to trigger their action, offering a simpler structure and lower cost.

[0104] Anti-blocking switches can be installed at appropriate locations within the feed opening to ensure accurate detection of blockage. For example, capacitive proximity switches can be mounted on the sidewall of the feed opening, at a certain height from the bottom (determined based on the material accumulation height and characteristics, typically 10-30 cm). When material accumulates to this height, the capacitance value changes, triggering the switch. Mechanical limit switches can be installed at the bottom or exit of the feed opening. If the feed opening is blocked, causing material accumulation and squeezing the switch, the switch will activate.

[0105] Connect the anti-blocking switch's signal output to the unloading trolley's control system. This control system, using a programmable logic controller (PLC) or microcontroller, receives the anti-blocking switch's signal and controls the belt motor's operation accordingly. During the electrical connection process, ensure proper insulation and protection of the wiring to prevent short circuits or signal interference caused by dust, moisture, and other factors.

[0106] When the unloading trolley unloads normally, the material flows smoothly through the discharge port onto the belt, and the anti-blocking switch remains deactivated. If the discharge port becomes blocked, material will accumulate at the port. For capacitive proximity switches, material accumulation changes the capacitance around the switch. When the capacitance reaches the set threshold, the switch actuates and outputs an electrical signal. For mechanical travel switches, material accumulation compresses the switch, causing the contacts to close or open, outputting a corresponding electrical signal.

[0107] The control system monitors the anti-blocking switch's signal status in real time. Upon detecting the switch's activation signal, the control system immediately sends a stop command to the belt motor, halting it. Simultaneously, the control system issues an audible and visual alarm to alert the operator of a blockage in the discharge port, allowing prompt action. Once the blockage is resolved, the operator can manually reset the control system or use remote control to release the belt motor's stop signal and resume unloading operations.

[0108] After the anti-blocking switch is installed, its sensitivity can be adjusted. By simulating a blocked feed port, the detection parameters of the anti-blocking switch (such as the capacitance threshold of the capacitive proximity switch and the trigger force of the mechanical travel switch) can be adjusted to ensure that the anti-blocking switch can accurately trigger when the material accumulates to a certain level, while avoiding false triggering due to normal fluctuations or slight accumulation of materials.

[0109] Testing the anti-blocking switch's response time from detecting a blockage to outputting a signal, as well as the control system's response time from receiving the signal to stopping the belt motor, ensures the entire anti-blocking protection system's response time meets production safety requirements and stops the belt motor in the shortest possible time, preventing equipment damage and escalating accidents.

[0110] A fault diagnosis mechanism for the anti-blocking protection system can be established, which can promptly issue a fault alarm signal when the anti-blocking switch or control system fails. For example, if the anti-blocking switch is damaged and the signal is abnormal, the control system can detect the unstable or missing signal and prompt the operator to repair or replace it.

[0111] By installing an anti-blocking switch at the discharge port of the unloading trolley, the belt motor can be immediately stopped when the discharge port is blocked, effectively avoiding problems such as belt overload and motor damage caused by discharge port blockage, improving the safety of unloading operations and the reliability of the equipment. At the same time, the sound and light alarm device can promptly remind the operator to deal with the blockage, reducing production interruption time and improving production efficiency.

[0112] For the disclosed embodiment, the unmanned control system of the unloading vehicle further includes: a safety protection module 6, which is connected to the central control management module 4;

[0113] The safety protection module 6 can be used to detect abnormal intrusion into the operation area of ​​the unloading trolley based on the real-time monitoring video of the unloading port of the unloading trolley, the walking track of the unloading trolley, the belt and the operation of each key operating part, and detect the presence or misentry of personnel in the operation area through the grating guardrail;

[0114] If there is a risk of abnormal intrusion in the operating area, and / or personnel are stranded or mistakenly enter, the corresponding warning information will be triggered and a shutdown command will be sent to the central control management module 4 to make the unloading trolley stop urgently.

[0115] A light barrier can be installed at the boundary of the work area. The barrier consists of a transmitter and a receiver. The transmitter emits infrared light, and the receiver receives it. When an object blocks the light, the barrier detects the change in signal. The barrier's detection accuracy can be adjusted based on actual needs, but is generally set to detect objects with a diameter of at least 5 cm.

[0116] The safety protection module 6 can be linked to the video monitoring module 5. When the video monitoring module 5 detects an abnormality (such as an obstacle on the unloading trolley's track, serious belt deviation, abnormal temperature in key operating parts, etc.), the video monitoring module 5 sends the abnormality information to the safety protection module 6. Upon receiving the abnormality information, the safety protection module 6 can trigger an alarm device.

[0117] Furthermore, Security Protection Module 6 can also analyze real-time surveillance video using a deep learning-based object detection algorithm. First, a large number of surveillance video samples of both normal and abnormal scenes in the work area are collected to train the algorithm, enabling it to accurately identify targets such as people, vehicles, and other objects. During real-time monitoring, the algorithm processes each frame of video to detect whether any abnormal targets have entered the work area.

[0118] In the video surveillance footage, multiple detection zones can be set based on the actual scope of the work area and safety requirements. For example, a no-entry zone can be set on both sides of the unloading trolley's travel track, and a material drop hazard zone can be set below the discharge port. When a target is detected entering one of these detection zones, it is determined to be an abnormal intrusion risk.

[0119] The safety protection module 6 also monitors the signal status of the light barrier in real time. When the light barrier detects an object blocking light, it outputs an electrical signal to the safety protection module 6. The safety protection module 6 analyzes the signal to determine the duration and location of the obstructing object. If the obstruction lasts longer than a set threshold (e.g., 5 seconds) and the location is within the operating area, it is determined that the person has been stranded or has strayed.

[0120] To improve detection accuracy, the safety protection module 6 can integrate and analyze the detection results of the grating guardrail with the video surveillance data. For example, when the grating guardrail detects that an object has entered the working area, the safety protection module 6 can call the surveillance video of the corresponding area for further confirmation to determine whether it is a person or other dangerous object.

[0121] When the safety protection module 6 detects an abnormal intrusion risk or a person's errant entry into the work area, it immediately triggers a corresponding warning message. The warning message can be issued in a variety of ways, such as a pop-up warning window on the display screen in the central control room, indicating the specific location and type of the abnormality; at the same time, the sound and light alarm emits a high-decibel alarm and flashes lights to remind on-site personnel to pay attention to safety.

[0122] Upon triggering the warning, the safety protection module 6 can send a shutdown command to the central control management module 4. Upon receiving the shutdown command, the central control management module 4 can immediately control the unloading trolley's drive system, causing the trolley to shut down urgently. Rapid braking can be used during the shutdown process to ensure the trolley stops in the shortest possible time, preventing collisions or injuries.

[0123] This system uses laser detection to detect the vehicle's position and light barrier detection to detect if there is anyone on board, reducing safety risks compared to the original overall security. At the same time, an on-site intrusion alarm and monitoring system is installed to provide alerts, and various sensor data on site is fed back to the backend. Through analysis by the central control system, early warning and shutdown measures are implemented, ensuring the safety of the entire system.

[0124] like Figure 2 As shown, an embodiment of the present disclosure provides an unmanned operation control method for a dump truck. The method can be applied to the unmanned operation control system of the dump truck and executed by the unmanned operation control system of the dump truck. The unmanned operation control method for the dump truck may include:

[0125] Step 101: Locate the real-time distance between the unloading vehicle and the unloading port of the corresponding compartment of the target grinding head silo, and monitor the height of the ore in the compartment.

[0126] Among them, the unloading truck can be used to transport ore raw materials and unload them at a designated location. It is usually equipped with a walking mechanism, an unloading device, etc. The target grinding head silo can be a silo used to store ore raw materials unloaded by the designated unloading truck. The target grinding head silo consists of multiple compartments, each of which corresponds to different production needs or process requirements.

[0127] The bin discharge port can be an opening of each bin in the target grinding head bin for discharging ore raw materials;

[0128] The real-time position distance can be the straight-line distance between the current position of the unloading vehicle and the unloading port of the corresponding compartment of the target grinding head silo calculated in real time, or the distance calculated according to a specific path;

[0129] The ore material height can be the height of the ore raw material stacking in the corresponding compartment of the target grinding head silo.

[0130] As a possible implementation method for the disclosed embodiments, positioning sensors can be installed on the unloading vehicle and the corresponding bin discharge port of the target grinding head silo. The positioning module receives signals from these sensors and calculates the real-time position and distance between the unloading vehicle and the bin discharge port in real time. The positioning sensors can use high-precision LiDAR or ultra-wideband (UWB) positioning technology, achieving centimeter-level positioning accuracy, effectively preventing material leaks or blockages caused by positioning errors.

[0131] As a possible approach, material level sensors can be installed in each cell. The material level monitoring module can read the data from these sensors to monitor the material level in real time. Material level sensors can be radar level meters or ultrasonic level meters, which offer high measurement accuracy and reliability, accurately reflecting the material level within the cell.

[0132] Data Collection and Transmission: Ultrasonic level sensors regularly collect data on the height of the material within the bins and transmit it to the central control system via wired communication methods (such as RS485). The central control system processes and analyzes the collected data to obtain the real-time height of the material within each bin and displays it graphically or numerically on the display screen.

[0133] Step 102: Control the unloading vehicle to move to an operating area where the distance from the real-time position is less than or equal to a first preset distance threshold, and unload the ore raw materials transported by the unloading vehicle into the bin until the ore height is equal to the preset ore height.

[0134] Among them, the first preset distance threshold can be the maximum distance allowed between the unloading truck and the unloading port of the corresponding compartment of the target grinding head silo; when the real-time position distance between the unloading truck and the unloading port is less than or equal to the threshold, the central control management module can control the unloading truck to perform unloading operations, so as to ensure the accuracy and safety of unloading, and avoid materials from being scattered or unable to enter the compartment accurately due to excessive distance.

[0135] The preset mineral material height can be the maximum mineral material accumulation height allowed in the bin. When the material level monitoring module detects that the mineral material height in the bin has reached the preset value, the central control management module will stop the unloading operation to prevent the mineral material from overflowing the bin, causing waste of resources and environmental pollution, while ensuring the normal progress of subsequent operations.

[0136] In the disclosed embodiment, before starting an operation, the operator can set relevant parameters on the human-computer interaction interface of the central control management module, which may include a first preset distance threshold, a preset ore height, etc. At the same time, the operator can check the working status of each module to ensure the normal operation of the system.

[0137] The operator issues a start command on the central control management module, and the unloading vehicle begins operation. The positioning module obtains the real-time position and distance between the unloading vehicle and the discharge port of the corresponding compartment of the target grinding head silo and transmits the data to the central control management module.

[0138] The central control management module can determine whether the unloading vehicle has reached the target location (i.e., the real-time location distance is less than or equal to a first preset distance threshold) based on the real-time location distance provided by the positioning module. If it has not reached the target location, the central control management module can send a movement instruction to the unloading vehicle to control the unloading vehicle to continue moving until it reaches the target location.

[0139] When the unloading vehicle reaches its target location, the material level monitoring module monitors the material level within the bin in real time and transmits this data to the central control management module. Based on this data, the central control management module controls the unloading vehicle to unload the transported ore into the bin. During the unloading process, the material level monitoring module continuously monitors the material level. When the material level reaches the preset level, the central control management module sends a stop command to the unloading vehicle, completing the unloading operation.

[0140] After the unloading operation is completed, the unloading vehicle returns to its initial position and awaits the next operation instruction. The central control management module can record the relevant data of this operation, such as unloading time, unloading amount, material level change, etc., for subsequent analysis and statistics.

[0141] The unmanned control system disclosed in this paper enables unmanned operation of the unloading truck, eliminating the need for operators to be present at the work site, effectively preventing the health hazards of dust. Furthermore, the high-precision measurement of the positioning module and material level monitoring module ensures precise positioning and accurate unloading of the unloading truck, preventing leaks and blockages, and improving production efficiency and product quality.

[0142] In summary, according to the unmanned control method of the unloading truck provided by the present disclosure, compared with the current existing technology, the present disclosure can locate the real-time position distance between the unloading truck and the unloading port of the corresponding compartment of the target grinding head silo, and monitor the height of the ore in the compartment; control the unloading truck to move to the operating area where the real-time position distance is less than or equal to the first preset distance threshold, and unload the ore raw materials transported by the unloading truck into the compartment until the height of the ore is equal to the preset ore height. Through the scheme in the present disclosure, the operator does not need to go to the site in person, but only needs to operate at the central control management module to remotely control the operation of the unloading truck, avoiding direct exposure to a high dust environment, thereby reducing the risk of occupational diseases such as pneumoconiosis. By locating the position distance between the unloading truck and the unloading port of the corresponding compartment of the target grinding head silo in real time, a reliable basis is provided for the precise movement of the unloading truck. Compared with manual visual judgment, the positioning module is not affected by steam and dust in a high humidity environment, and can accurately obtain the position information of the unloading truck, avoiding positioning deviations caused by visual interference.

[0143] By monitoring the material height within the bin in real time, the central control management module precisely controls the unloading vehicle to the appropriate position based on the real-time location distance and material height information. It then accurately unloads the ore transported by the unloading vehicle into the bin until the material reaches the preset height. This precise control method effectively prevents material leakage or blockage accidents.

[0144] It should be noted that, in this document, relational terms such as "first" and "second" are used only 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 "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article or device. In the absence of further limitations, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0145] Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present disclosure can be implemented using a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. Alternatively, they can be implemented using program code executable by the computing device, so that they can be stored in a storage device and executed by the computing device. In some cases, the steps shown or described can be performed in an order different from that shown here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the present disclosure is not limited to any specific combination of hardware and software. The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure can have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. An unmanned operation control system for a dump truck, characterized in that: The unmanned control system is used to control the unloading vehicle, and the unmanned control system includes: a wireless network module, a positioning module, a material level monitoring module, and a central control management module, wherein the wireless network module, the positioning module, and the material level monitoring module are all connected to the central control management module; The wireless network module is used to cover the operating area through a wireless network, so that the unloading vehicle and the central control management module can communicate through the wireless network; The positioning module is used to locate the real-time position distance between the unloading vehicle and the unloading port of the corresponding compartment of the target grinding head silo; The material level monitoring module is used to monitor the height of the mineral material in the bin; The central control management module is used to control the unloading vehicle to move to an operating area where the distance from the real-time position is less than or equal to a first preset distance threshold, and unload the ore raw materials transported by the unloading vehicle into the bin until the ore height is equal to the preset ore height.

2. The unmanned operation control system of the unloading vehicle according to claim 1, characterized in that: The central control management module is specifically used for: If the real-time position distance is greater than a second preset distance threshold, the frequency converter of the unloading vehicle is controlled to start the soft acceleration function of the motor until the real-time position distance is less than or equal to the second preset distance threshold, and the frequency converter is controlled to start the soft deceleration function of the motor and dynamically adjust the motor speed to ensure that the unloading vehicle approaches the bin unloading port at a speed lower than the preset speed, wherein the second preset distance threshold is greater than the first preset distance threshold; When the unloading vehicle moves to an operating area where the distance from the real-time position is less than or equal to the first preset distance threshold, the motor power supply is cut off and the inertia braking function is activated; The ore raw materials transported by the unloading vehicle are unloaded into the bin until the ore material height is equal to the preset ore material height.

3. The unmanned operation control system of the unloading vehicle according to claim 2, characterized in that: The central control management module is further specifically used for: Obtaining the position distance between the unloading vehicle and the bin unloading port recorded by a moisture-proof encoder, wherein the moisture-proof encoder is used to determine the position distance based on the difference between the total position distance between the unloading vehicle and the bin unloading port before the unloading vehicle is started and the travel distance of the unloading vehicle; If the position deviation between the position distance recorded by the moisture-proof encoder and the real-time position distance recorded by the positioning module is greater than the preset position deviation threshold, a deviation correction program is triggered to eliminate the data contradiction between the position distance recorded by the moisture-proof encoder and the real-time position distance recorded by the positioning module; If the position deviation between the position distance recorded by the moisture-proof encoder and the real-time position distance recorded by the positioning module is less than or equal to the preset position deviation threshold, it is determined that the alignment is successful, the motor power supply is cut off, and the inertia braking function is activated; The unloading baffle of the unloading vehicle is controlled to open so as to unload the ore raw materials into the bin until the ore height is equal to the preset ore height.

4. The unmanned control system for a dump truck according to any one of claims 1 to 3, characterized in that: The central control management module is further specifically used for: During the process of unloading the ore raw materials into the bin, if it is monitored that the real-time position distance is greater than the first preset distance threshold, the unloading baffle of the unloading vehicle is controlled to be closed.

5. The unmanned operation control system of the unloading vehicle according to claim 1, characterized in that: The system further comprises: a video monitoring module, the video monitoring module being connected to the central control management module; The video monitoring module is used to monitor the unloading port of the unloading trolley, the walking track of the unloading trolley, the belt and the operation status of each key operating part.

6. The unmanned operation control system of the unloading vehicle according to claim 5, characterized in that: The unloading port of the unloading trolley is provided with an anti-blocking switch; The anti-blocking switch is used to stop the belt motor from operating when the discharge port is blocked.

7. The unmanned operation control system of the unloading vehicle according to claim 5, characterized in that: The system further comprises: a safety protection module, the safety protection module being connected to the central control management module; The safety protection module is used to detect abnormal intrusion into the operating area of ​​the unloading trolley based on real-time monitoring video of the unloading port of the unloading trolley, the walking track of the unloading trolley, the belt and the operation of each key operating part, and to detect personnel retention or accidental entry into the operating area through the grating guardrail; If there is a risk of abnormal intrusion in the operation area, and / or personnel are stranded or mistakenly enter, a corresponding warning message is triggered, and a shutdown command is sent to the central control management module to make the unloading trolley stop urgently.

8. A method for controlling unmanned operation of a dump truck, characterized in that: The method is applied to the unmanned operation control system of the unloading vehicle according to any one of claims 1 to 7, and the method comprises: Locate the real-time distance between the unloading vehicle and the unloading port of the target grinding head silo, and monitor the height of the ore in the silo; The unloading vehicle is controlled to move to an operating area where the distance from the real-time position is less than or equal to a first preset distance threshold, and the ore raw materials transported by the unloading vehicle are unloaded into the bin until the ore height is equal to the preset ore height.

9. An electronic device comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein: When the processor executes the computer program, the method according to claim 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to claim 8 is implemented.

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