Synchronous automatic alignment ore loading method and system for unmanned trackless transportation ore loading truck

Abstract

The invention relates to the field of intelligent mining of mines, and discloses a synchronous automatic alignment ore loading method and system for an unmanned trackless transportation ore loading truck, and the system comprises a pressure sensing module (comprising a roadway bottom surface sensor and a covering steel plate), a loading area, an incoming vehicle detection module, a weighing control module and an ore drawing execution module. According to the invention, by installing the newly designed weighing control and cooperation module, when the unmanned mine car is driven into a loading area to trigger coming car detection, the pressure sensing module is activated to measure the car weight in real time; if the car weight is smaller than the preset full load threshold value, the mine car is controlled to park (or move at a low speed and a constant speed), and an ore drawing execution module is started for ore drawing; under continuous weighing monitoring, when the car weight reaches a threshold value, ore drawing is stopped immediately, and the mine car is instructed to run away; and if the weight of the mine car reaches the threshold value during triggering, ore drawing is not started, and the mine car directly drives away. The problems of low efficiency, high safety risk and insufficient automation degree caused by the fact that traditional draw shaft ore drawing depends on manual operation are solved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent mining technology, and specifically to a method and corresponding system for underground mines, which realizes automatic and precise positioning (alignment) of unmanned trackless transport loading trucks (hereinafter referred to as "ore trucks") in the loading area below the chute and cooperates with the ore-drawing machine to quantitatively load ore. Background Art

[0002] Intelligent mining refers to the process of intelligently managing and controlling mining production processes using advanced information technology, sensing technology, automation technology, and artificial intelligence. In recent years, the development of intelligent mining has received increasing national attention. It is encouraged to include the normalized operation rate of intelligent equipment and systems as key indicators in the evaluation of intelligent mining development, aiming to achieve reduced- and even unmanned mining operations as soon as possible.

[0003] When the ore deposit is buried deep below the surface, underground mining is used. To extract the ore, tunnels such as chutes, ramps, and flat tunnels must be dug from the surface to the ore body. A chute is a tunnel that uses its own weight to discharge ore from top to bottom. A ore discharger is usually installed at the bottom of the chute, which can control the discharge of ore in the chute. Existing ore dischargers are usually manually controlled, that is, when the mine transfer car drives to the bottom of the ore discharger, the ore discharger operator visually measures the distance between the mine transfer car and the bottom of the ore discharger and instructs the mine transfer car driver to stop. The following problems exist: (1) Low work efficiency and high safety risks. When manually controlled remotely, there is often a problem of excessive ore overflowing the mine car or insufficient loading due to operator errors, fatigue, etc. At the same time, because the operator needs to be very close to the mine car, it is easy to be affected by ore splashing and causing casualties. (2) Poor working environment and impact on personnel health. Because the underground is dark and humid, dusty, and noisy during the loading and transportation process, it affects the health of mine car drivers, underground miners, and other personnel. (3) The degree of automation is low, it consumes manpower, is manually operated, and has high labor intensity. Due to the limitations of underground conditions, the cab size of the ore-loading truck is small and the driver's field of vision is limited during trackless transportation. In addition, the underground working environment is harsh, and long-term driving can easily cause driver fatigue, and the labor intensity is high. Therefore, it is urgent to develop a synchronous collaborative operation system that can realize automatic and precise positioning of ore transport vehicles and automatic quantitative ore discharge by ore dischargers to solve the above problems. In view of the above problems, a method and system for synchronous automatic positioning and loading of ore by unmanned trackless transportation ore-loading trucks in underground mines has been proposed and studied. Summary of the Invention

[0004] The purpose of the present invention is to address the shortcomings of the existing technology and provide a method for synchronous automatic positioning of ore loading by unmanned trackless transport loading trucks and a method for automatic ore discharge by ore dischargers. In order to achieve the above-mentioned purpose of the present invention, the following technical solutions are adopted:

[0005] A method for controlling the synchronous automatic alignment of ore loading by a trackless transport ore loading truck, the synchronous alignment ore loading method comprising the following steps:

[0006] 1. System layout:

[0007] A pressure sensor is installed on the bottom surface of the tunnel, in the area just below the discharge port of the ore drawer located below the chute.

[0008] A steel plate is laid above the pressure sensor, and the plane area of ​​the steel plate is larger than the maximum projection area of ​​the mining vehicle.

[0009] A loading area is defined in the area where the steel plate is located to limit the parking position of the ore transport vehicle for receiving the ore.

[0010] An incoming vehicle detection device is installed in the loading area.

[0011] The pressure sensor and the vehicle detection device are communicatively connected to the ore-discharging main control board; the ore-discharging main control board is controlled and connected to the ore-discharging machine to control the start and stop of the ore-discharging machine; the ore-discharging main control board is communicatively connected to the control system of the unmanned ore transport vehicle.

[0012] 2. Incoming vehicle detection and weight judgment:

[0013] When the unmanned ore transport vehicle enters the loading area and triggers the vehicle-oncoming detection device, the vehicle-oncoming detection device sends a vehicle-oncoming signal to the ore-discharging main control board.

[0014] After receiving the incoming vehicle signal, the ore discharge main control board activates the pressure sensor to start real-time or quasi-real-time measurement of the current weight of the ore transport vehicle located on the steel plate and the loading area.

[0015] 3. Decision-making and execution:

[0016] The ore discharge main control board determines whether the current weight of the ore transport vehicle measured by the pressure sensor is less than a preset full load threshold:

[0017] If the current weight is less than the full load threshold:

[0018] The ore discharge main control board sends a stop command to the unmanned ore transport vehicle control system.

[0019] The main control board sends a start signal to the ore-discharging machine, controlling the ore-discharging machine to start discharging ore.

[0020] Pressure sensors continuously monitor the weight of the ore truck.

[0021] When the weight of the mining vehicle reaches or exceeds the full load threshold:

[0022] The ore discharge main control board sends a ore discharge stop signal to the ore discharge machine to control the ore discharge machine to stop discharging ore.

[0023] The ore discharge main control board sends a departure instruction to the unmanned ore transport vehicle control system.

[0024] The unmanned mining truck leaves the loading area after receiving the departure command.

[0025] If the current weight is greater than or equal to the full load threshold (the vehicle is full):

[0026] The ore-feeding main control board does not send a stop command or ore-feeding start signal.

[0027] The ore truck continued along its original route and left the loading area.

[0028] Furthermore, the method according to claim 1 is characterized in that, in the "if current weight < full load threshold" branch of step 3, it also includes an information interaction confirmation step between the unmanned ore transport vehicle and the ore discharge main control board:

[0029] After activating the pressure sensor (or at the same time), the ore discharge main control board sends the first instruction information (including the arrival at the loading area notification) to the unmanned mining vehicle control system.

[0030] After receiving the first instruction information, the unmanned mining vehicle control system replies with a confirmation message (including at least the vehicle identification and the loading ready status) to the ore discharge main control board.

[0031] The ore discharge main control board will only execute the subsequent operations of sending the parking instruction and the ore discharge start signal after receiving the valid confirmation information (indicating that the vehicle is ready).

[0032] After the ore discharge is completed and the weight reaches the full load threshold, the ore discharge main control board sends a departure instruction to the unmanned ore transport vehicle control system as the third instruction information.

[0033] Furthermore, the method according to claim 1 or 2 is characterized in that it also includes a secondary confirmation step of the position of the ore transport vehicle:

[0034] A position verification sensor (infrared sensor or laser sensor) is provided in the loading area and is in communication connection with the ore drawing main control board.

[0035] After the ore transport vehicle triggers the incoming vehicle detection device, the ore discharge main control board activates the position verification sensor to verify the actual position of the ore transport vehicle in the loading area.

[0036] If the position verification sensor successfully verifies that the ore truck is in a valid loading position within the loading area within the predetermined time:

[0037] The position verification sensor sends a valid position signal to the ore discharge main control board.

[0038] The ore discharge main control board will allow or continue to perform subsequent weighing judgment, parking, ore discharge and other operations only after receiving the valid position signal.

[0039] If the position verification sensor fails to successfully verify a valid position within the predetermined time:

[0040] The ore discharge main control board does not send a stop command or ore discharge start signal (or sends a warning / correction command), and the ore transport vehicle can leave according to the command or the original plan.

[0041] Furthermore, the method according to claim 1 is characterized in that:

[0042] The response time of the pressure sensor in measuring the weight of the ore truck is much shorter than the time required for the ore truck to pass through the loading area at the maximum design speed (≤25km / h), ensuring that weight judgment and instruction sending can be completed before the vehicle leaves the effective weighing / loading area.

[0043] Furthermore, the method according to claim 1 is characterized in that:

[0044] The incoming vehicle detection device is a laser sensor or an infrared sensor, which is installed on the side wall of the tunnel or the ground. Its detection range covers the entrance or specific location of the loading area.

[0045] Furthermore, the method according to claim 1 is characterized in that, during the loading process:

[0046] After receiving the stop command, the unmanned ore transport vehicle adopts a completely stopped and stationary mode to receive the ore; or after receiving the stop command, the unmanned ore transport vehicle adopts a low-speed and uniform movement mode to pass through the loading area to receive the ore. Preferably, when mobile loading is adopted, the discharge port of the ore discharger is provided with an ore discharge swing mechanism, and the ore discharge swing mechanism is controlled and connected to the ore discharge main control board;

[0047] The ore discharge main control panel controls the ore discharge swing mechanism to swing at a preset speed, so that the ore landing point moves from the front to the rear of the ore transport car, achieving uniform filling of the car.

[0048] Furthermore, the system is used to implement the method according to any one of claims 1 to 6, comprising:

[0049] Ore discharge machine: installed at the connection point between the chute and the tunnel, used to control the discharge of ore in the chute.

[0050] Ore discharge main control board: connected to the ore discharge machine control, used to control the start and stop of the ore discharge machine; has a communication module.

[0051] Pressure sensor: installed on the bottom of the tunnel, just below the discharge port of the ore loader.

[0052] Steel plate: laid above the pressure sensor, with an area larger than the projected area of ​​the mining truck.

[0053] Loading area: Located above the steel plate, defined by ground markings or physical limit devices.

[0054] Incoming vehicle detection device: installed near the loading area to detect the entry of mining vehicles.

[0055] Communication unit: used for information exchange between the ore discharge main control board and the unmanned mining vehicle control system (preferably using 2.4GHz or other short-range wireless communication technology).

[0056] Position verification sensor: installed near the loading area to confirm the validity of the parking position of the mining truck.

[0057] Ore-feeding swing mechanism: installed at the discharge port of the ore-feeding machine, used for even distribution of materials during mobile loading.

[0058] Among them, the pressure sensor, the vehicle detection device, and the position verification sensor are all communicatively connected to the ore discharge main control board.

[0059] Furthermore, a terminal device for controlling the automatic ore discharge of a ore discharge machine includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the methods described in claims 1-6 when executing the computer program.

[0060] Furthermore, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

[0061] The present invention has the following improvements over the prior art:

[0062] 1. Fully automatic precise positioning and loading: Through pressure sensors, vehicle detection devices, loading area demarcation and communication with the unmanned driving system, the ore transport vehicle can automatically and accurately position and dock (or control the low-speed movement trajectory) and quantitatively load in the loading area without any human intervention.

[0063] 2. Accurate control of loading volume: Real-time weighing feedback ensures that the loading volume accurately reaches the preset threshold, effectively avoiding the problems of underloading (low efficiency) and overfilling (waste, safety hazards).

[0064] 3. Improved intrinsic safety: It eliminates the need for personnel to operate near the loading point, fundamentally avoiding the risk of injury to personnel from ore splashing, vehicle collision, etc.

[0065] 4. Significant improvement in operational efficiency: The automated process shortens loading time and reduces delays caused by manual errors or waiting.

[0066] 5. Adaptable to autonomous driving scenarios: The designed information exchange protocol (such as commands 1, 2, 3 and confirmation information) is specifically adapted for autonomous driving systems, ensuring reliable command transmission and vehicle status confirmation, improving the reliability of collaborative operations. Secondary position verification further enhances positioning accuracy and system robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The accompanying drawings, which constitute a part of the specification, illustrate embodiments disclosed in the present application and, together with the description, serve to explain the principles disclosed in the present application in a clear and understandable manner.

[0068] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0069] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0070] Among them: 1. Ore transport vehicle; 2. Ore discharge machine and ore discharge main control board; 3. Pressure sensor; 4. Steel plate, loading area and weighing platform; 5. Incoming vehicle detection device; 6. Position verification sensor. DETAILED DESCRIPTION

[0071] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0072] See also Figure 1 The method and system for synchronous automatic positioning of ore loading by unmanned trackless transport ore loading trucks of this embodiment include a ore transport vehicle 1, an ore discharge machine and an ore discharge main control board 2, and also include:

[0073] Pressure sensor 3 (composed of multiple pressure-sensing modules) is embedded in or fixed to the tunnel floor. Its load-bearing capacity far exceeds the weight of a fully loaded ore truck 1, and it is dustproof, waterproof, and impact-resistant. Steel plate 4 is securely laid atop it, completely covering the sensor's sensing area and covering an area larger than that of the largest ore truck.

[0074] Steel plate, loading area and weighing platform 4, the loading area is defined as the entire area of ​​the steel plate, ensuring that its center is aligned with the center line of the ore dropper 2, and the size is sufficient to accommodate the ore transport vehicle 1.

[0075] The vehicle detection device 5 uses a laser sensor installed on the side wall of the tunnel. The height and angle are adjusted so that it can stably detect the specific feature points of the mining vehicle 1 entering the loading area 4. Its trigger logic is that the laser beam is blocked by the specific feature points of the mining vehicle 1.

[0076] Position verification sensor 6, consisting of a pair of infrared transmitters and receivers, is mounted on the tunnel sidewall and at a specific location on the ore cart 1 compartment (e.g., the middle of a side panel) at a height corresponding to the beam height. A valid position signal is transmitted only when the ore cart 1 is correctly positioned within loading area 4 and the infrared receiver detects the infrared light emitted by the transmitter.

[0077] Communication Implementation: The ore-drawing main control board 2 is equipped with a 2.4GHz wireless module. The control system of the unmanned ore transport vehicle 1 is equipped with a compatible wireless module.

[0078] Relationship between weighing and speed: The sampling rate of the selected pressure sensor 3 is high enough (≥10Hz) to ensure that even if the ore transport vehicle 1 is at the maximum speed (25km / h≈6.94m / s), multiple effective measurements and judgments can be completed within the time (≥0.288s) when the vehicle passes through the effective weighing area 4 (≥2 meters).

[0079] Ore-feeding swing mechanism: One structure of the ore-feeding swing mechanism includes a telescopic drive member and a hopper. The hopper is hingedly connected to the bottom of the discharge port of the ore-feeding machine 1, and the telescopic drive member is in transmission connection with the hopper. Operation: The telescopic drive member drives the hopper, allowing it to swing downward and upward relative to the ore-feeding machine 1. It is understood that to facilitate automatic control, the telescopic drive member is electrically connected to the ore-feeding main control board. The operating program of the telescopic drive member can be pre-set on the ore-feeding main control board, and the ore-feeding main control board controls the operation of the telescopic drive member according to this program.

[0080] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A synchronous automatic alignment loading system for unmanned trackless transport loading trucks, characterized in that: It includes a mine transport vehicle (1); an ore placing machine and an ore placing main control panel (2); and include, A pressure sensing unit comprises a pressure sensor (3) installed on the bottom surface of a tunnel below a ore-feeding machine, and a steel plate (4) laid above the pressure sensor and having an area larger than the projected area of ​​a ore-feeding vehicle, wherein a loading area (4) is defined above the steel plate (4); an incoming vehicle detection device (5) installed in the loading area (4); and a communication unit for communication between the ore-feeding main control board and the unmanned ore-feeding vehicle control system; wherein the pressure sensor (3) and the incoming vehicle detection device (5) are in communication connection with the ore-feeding main control board (2); The ore discharge main control panel (2) is configured as follows: when the ore transport vehicle (1) enters the loading area (4) and triggers the vehicle incoming detection device (5), the pressure sensor (3) is activated to measure the weight of the ore transport vehicle (1); and it is determined whether the measured weight is less than a preset full load threshold value: if it is less than, the ore transport vehicle (1) is controlled to stop in the loading area (4) and the ore discharge machine (2) is started to discharge the ore, and the weight is continuously monitored. When the weight reaches the threshold value, the ore discharge is stopped and the ore transport vehicle (1) is instructed to leave; if it is greater than or equal to, the ore discharge is not started and the ore transport vehicle (1) continues to move forward.

2. The synchronous automatic alignment loading system for unmanned trackless transport loading trucks according to claim 1 is characterized in that: Also includes: A position verification sensor (6) is installed near the loading area (4) and is in communication connection with the ore discharge main control board (2); the ore discharge main control board (2) is further configured to: after the ore transport vehicle (1) triggers the vehicle detection device (5), use the position verification sensor (6) to verify the validity of the position of the ore transport vehicle (1) in the loading area (4); only when the position is valid, will the subsequent weight judgment, parking and ore discharge operations be allowed or continued.

3. The synchronous automatic alignment loading system for unmanned trackless transport loading trucks according to claim 1 is characterized in that: The ore discharge main control board (2) is further configured to: before starting ore discharge, perform the following interactions: send a first instruction message to the ore transport vehicle (1); receive a confirmation message from the ore transport vehicle (1) containing a vehicle identification and a ready state; and only after receiving a valid confirmation message, execute the operation of controlling the ore transport vehicle (1) to stop and start the ore discharge machine.

4. The synchronous automatic alignment loading system for unmanned trackless transport loading trucks according to claim 1 is characterized in that: The measurement response time of the pressure sensor (3) satisfies the requirement to complete weight measurement, judgment, and instruction sending within the time required for the ore transport vehicle (1) to pass through the loading area (4) at the maximum design speed.

5. The synchronous automatic alignment loading system for unmanned trackless transport loading trucks according to claim 1 is characterized in that: Also includes: The ore-feeding swing mechanism (a mechanism provided by the ore-feeding machine itself) is installed at the discharge port of the ore-feeding machine (2) and is connected to the ore-feeding main control board (2); the ore-feeding main control board (2) is also configured to: control the ore-carrying vehicle (1) to receive ore at a low and uniform speed, and synchronously control the ore-feeding swing mechanism to swing, so that the ore falls from the front to the back in the compartment of the ore-carrying vehicle (1) to achieve uniform distribution.

6. A method for synchronous automatic alignment of ore loading by unmanned trackless transport ore loading trucks, characterized in that: The system applied to any one of claims 1 to 5 comprises the following steps: when a ore transport vehicle (1) enters a loading area (4) and triggers an incoming vehicle detection device (5), activating a pressure sensor (3) to measure the weight of the ore transport vehicle (1), and simultaneously activating a position verification sensor (6) to measure the position of the ore transport vehicle (1); judging whether the measured weight is less than a preset full load threshold and whether the ore transport vehicle (1) is in the loading area (4); if it is less than the preset full load threshold and the ore transport vehicle (1) is entirely in the loading area, controlling the ore transport vehicle (1) to stop in the loading area ( 4) and start the ore-discharging machine (2) to discharge ore, continuously monitor the weight, stop discharging ore when the weight reaches a threshold value and instruct the ore-carrying vehicle (1) to leave; if the weight is less than the preset full load threshold value but the ore-carrying vehicles (1) are not all in the loading area, then control the ore-carrying vehicles (1) to fine-tune their positions forward and backward until all the ore-carrying vehicles (1) are parked in the loading area (4) and then start the ore-discharging machine (2) to discharge ore, continuously monitor the weight, stop discharging ore when the weight reaches a threshold value and instruct the ore-carrying vehicle (1) to leave; if the weight is greater than or equal to the preset full load threshold value, then do not start discharging ore and the ore-carrying vehicle (1) continues to move forward.

7. A terminal device for controlling an automatic ore-feeding machine, comprising a memory, a processor, and a computer program stored in the memory, characterized in that: When the processor executes the program, the steps of the method according to claim 6 are implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the program is executed by a processor, the steps of the method according to claim 6 are implemented.

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