Mine car dispatching system and method based on draw shaft material level monitoring and storage medium

Abstract

The invention relates to the technical field of mining and material transportation, and discloses a mine car dispatching system and method based on draw shaft material level monitoring and a storage medium, and the system comprises an edge numerical control base station which is used for issuing a material level measurement instruction to a multi-mode material level detector; the multi-mode material level detector is used for responding to the material level measuring instruction, detecting the average height of the material level in the draw shaft in real time, and uploading the detected average height of the material level to the cloud server through the mine Ethernet looped network; the edge numerical control base station is used for dispatching the mine car to drive to a target draw shaft when the target draw shaft with the average material level height reaching the full bin limit height is inquired based on the average material level height stored in the cloud server; and the mine car in-place sensing terminal is used for monitoring the position of the mine car in real time in the running process of the mine car and controlling the mine car to stop running when monitoring that the mine car reaches the target draw shaft position. Through real-time monitoring of the draw shaft material level and accurate scheduling of the mine car, the transportation efficiency is improved, and the production continuity and safety are guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of mining and material transportation, and in particular to a mine car dispatching system and method based on chute material level monitoring, and a storage medium. Background Art

[0002] In the mining and material transportation system, chutes serve as key hubs connecting the various mining sections with the external transportation system, and they undertake the centralized temporary storage and transshipment of ore and waste rock. Their core value lies in optimizing transportation efficiency through large-scale material collection, and real-time dynamic monitoring of chute material levels is the basis for ensuring the stable operation of this function. Specifically, material level data directly serves ore discharge management decisions. After receiving the mine transportation plan, the ore discharge operator needs to integrate the real-time material level information of each chute to plan the transportation route and assign unloading tasks. This process must not only meet the total ore transportation requirements for the shift, but also control the material level of each chute within the safety threshold to avoid blockage due to excessively high material levels or emptying due to too low material levels, thereby ensuring the continuous operation of the chute system.

[0003] However, the material level monitoring technology currently used in mining has significant limitations. Traditional contact sensors (such as paddle and capacitive) sense material level through mechanical contacts or changes in electric fields. These sensors are susceptible to material impact, corrosion, and dust accumulation in harsh mining conditions, leading to inaccurate measurements and frequent equipment failures. While manual visual inspection can be a supplementary measure, it is limited by differences in personnel experience and the frequency of inspections, making it difficult to achieve continuous and accurate material level monitoring. This can lead to over-limit chute operation due to information lags and reduce overall transportation efficiency due to poor scheduling. Summary of the Invention

[0004] In view of this, the present application provides a mine car scheduling system and method, and storage medium based on chute material level monitoring, which improves transportation efficiency and ensures production continuity and safety through real-time monitoring of chute material level and precise scheduling of mine cars.

[0005] According to one aspect of the present application, a mine car dispatching system based on chute material level monitoring is provided, the system comprising: Edge CNC base station, multi-modal material level detector, mine Ethernet ring network, cloud server and mine car arrival sensing terminal; The edge numerical control base station is used to send material level measurement instructions to the multimodal material level detector; The multimodal material level detector is used to detect the average material level height in the chute in real time in response to the material level measurement instruction, and upload the detected average material level height to the cloud server via the mine Ethernet ring network; The edge numerical control base station is further configured to dispatch a mine car to a target chute when it is determined that the average material level has reached a target chute full-bin limit height based on the average material level stored in the cloud server; The mine car arrival sensing terminal is used to monitor the position of the mine car in real time during its travel, and to control the mine car to stop traveling when it is detected that the mine car has reached the target chute position.

[0006] According to another aspect of the present application, a mine car dispatching method based on chute material level monitoring is provided, the method comprising: The edge CNC base station sends material level measurement instructions to the multi-modal material level detector; The multi-modal material level detector responds to the material level measurement instruction, detects the average material level height in the chute in real time, and uploads the detected average material level height to the cloud server through the mine Ethernet ring network; When the edge CNC base station finds a target chute with an average material level that reaches the full-bin limit height based on the average material level stored in the cloud server, it dispatches the mine car to the target chute; The mine car arrival sensing terminal monitors the position of the mine car in real time during its travel, and controls the mine car to stop when it detects that the mine car has reached the target chute position.

[0007] According to another aspect of the present application, a storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the above-mentioned mine car scheduling method based on chute material level monitoring is implemented.

[0008] By means of the above technical solution, the present application provides a mine car dispatching system and method based on chute material level monitoring, a storage medium, an edge CNC base station, which is used to send a material level measurement instruction to a multimodal material level detector; the multimodal material level detector is used to detect the average material level height in the chute in real time in response to the material level measurement instruction, and upload the detected average material level height to the cloud server through the mine Ethernet ring network; the edge CNC base station is also used to dispatch the mine car to the target chute when it is found that the target chute with the average material level height reaches the full warehouse limit height based on the average material level stored in the cloud server; the mine car arrival sensing terminal is used to monitor the position of the mine car in real time during the driving process of the mine car, and control the mine car to stop driving when it is detected that the mine car has reached the target chute position. Through real-time monitoring of the chute material level and precise scheduling of mine cars, transportation efficiency is improved and production continuity and safety are guaranteed.

[0009] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, 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 application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic diagram of a mine car dispatching process based on chute material level monitoring provided by an embodiment of the present application is shown; Figure 2 A schematic diagram of the architecture of a mine car dispatching system based on chute material level monitoring provided by an embodiment of the present application is shown; Figure 3 The following is a diagram showing the architecture of a multi-modal material level detector provided in an embodiment of the present application; Figure 4 A flow chart of a mine car dispatching method based on chute material level monitoring provided in an embodiment of the present application is shown.

[0011] Among them, 101-multimodal material level detector, 102-mine car arrival sensing terminal, 103-mine car capture camera, 104-edge CNC base station, 105-mine Ethernet ring network, 106-real-time material level display screen, 107-cloud server, 1011-millimeter wave radar, 1012-optical data acquisition equipment as an imaging device, 1013-servo motor. DETAILED DESCRIPTION

[0012] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0013] In this embodiment, a mine car dispatching system based on chute material level monitoring is provided. The dispatching process of the mine car dispatching system is as follows: Figure 1 As shown in Figure 2, the structure of the mine car dispatching system is as follows: Figure 2 As shown, the system includes: Edge numerical control base station 104, multimodal material level detector 101, mine Ethernet ring network 105, cloud server 107 and mine car arrival sensing terminal 102; The edge numerical control base station 104 is used to send a material level measurement instruction to the multimodal material level detector 101; The multimodal material level detector 101 is used to detect the average material level in the chute in real time in response to the material level measurement instruction, and upload the detected average material level to the cloud server 107 via the mine Ethernet ring network 105; The edge numerical control base station 104 is further configured to dispatch a mine car to a target chute when it is determined that the average material level has reached a target chute full-bin limit height based on the average material level stored in the cloud server 107. The mine car arrival sensing terminal 102 is used to monitor the position of the mine car in real time during its travel, and to control the mine car to stop traveling when it detects that the mine car has reached the target chute position.

[0014] At present, in order to meet the construction needs of smart mines, it is necessary to cooperate with the optimized operation of electric locomotives and underground shovel loaders in the rail transportation unmanned system, and build a comprehensive intelligent balanced ore transportation management and control system to achieve the optimal scheduling of the mine car operation system, and provide basic data support for mines to improve quality and reduce costs. This requires online monitoring of the chute material level.

[0015] In the above embodiments of the present application, the measurement of ore weight is abandoned, and the material level is directly monitored from the perspective of material level through a non-contact multimodal sensor. At the same time, image and position sensors are used to realize the coordinated monitoring of mine car data. Finally, the edge CNC base station is used to realize the networking and intercommunication of all equipment data, and ultimately realize the online dynamic monitoring of the chute material level and the dynamic scheduling of the mine car.

[0016] Specifically, the edge CNC base station 104 issues material level measurement instructions. During the mine's daily production operations, as one of the core control units of the entire dispatching system, the edge CNC base station 104 can issue material level measurement instructions to the multimodal material level detector 101 on a regular basis or based on specific trigger conditions, according to preset programs and rules. For example, a command can be sent to the multimodal material level detector 101 every 30 minutes to ensure timely monitoring of material level changes in the chute.

[0017] Next, the multimodal material level detector 101 detects and uploads material level data. Specifically, upon receiving the material level measurement command from the edge CNC base station 104, the multimodal material level detector 101 immediately begins operation. This detector combines various technologies, such as millimeter-wave radar and optical data acquisition equipment, to detect the average material level within the chute in real time. The millimeter-wave radar transmits millimeter waves and receives reflected waves, calculating the material level based on information such as the time and intensity of the reflected waves. The optical data acquisition equipment captures images of the material within the chute from different angles, using image analysis to assist in determining the material level.

[0018] After the detector completes the material level detection, it will quickly and stably upload the detected average material level height data to the cloud server 107 through the mine Ethernet ring network 105 for storage.

[0019] Next, the edge CNC base station 104 determines and dispatches the mine car. Specifically, the edge CNC base station 104 accesses the cloud server 107 in real time to obtain the stored average chute material level data. When the edge CNC base station 104 determines based on this data that the average material level of a chute has reached the full-bin limit, it identifies that chute as the target chute. For example, if the full-bin limit is set to 10 meters, when the average material level of chute No. 2 reaches 10 meters, the edge CNC base station will mark chute No. 2 as the target chute.

[0020] The edge CNC base station 104 then dispatches the mine car to the target chute based on the car's real-time location, operating status, and the location of the target chute. For example, if three mine cars are idle, the edge CNC base station 104 selects the mine car closest to the target chute and in good condition, and sends a dispatch instruction to it, instructing it to proceed to the target chute for loading.

[0021] Next, the mine car arrival sensing terminal 102 controls the mine car to stop. As the mine car travels toward the target chute according to the dispatching instructions, the mine car arrival sensing terminal 102 monitors the mine car's position in real time. When the mine car arrival sensing terminal 102 detects that the mine car has reached the target chute, it immediately sends a control signal to the mine car's control system to control the mine car to stop. For example, if the mine car is less than 1 meter from the target chute entrance, the mine car arrival sensing terminal determines that the mine car has reached the target chute position and promptly issues a stop command to ensure that the mine car accurately stops at the target chute for subsequent loading operations.

[0022] To this end, through the above process, the mine car dispatching system can realize real-time monitoring of the chute material level and precise dispatching of mine cars, thereby improving the production efficiency and transportation safety of the mine.

[0023] Specifically, the edge CNC base station 104 can be an edge computing device composed of a CPU (Central Processing Unit) and an NPU (Neural Processing Unit). The CPU must be at least a quad-core ARM Cortex-A7, the NPU must be at least 8.0 TOPs with INT8 / INT16 support, the memory must be at least 1GB DDR, and the hard drive must be at least 4GB eMMC. The edge CNC base station 104 also includes a communication module to connect to the mine Ethernet ring network 105. The mine Ethernet ring network 105 can be a local area network (LAN) that connects to the cloud server 107 via an external interface. The communication method for the mine Ethernet ring network 105 can be RS485 Modbus.

[0024] Optionally, there are multiple chute wells, and each chute corresponds to at least one multimodal material level detector 101, wherein the multimodal material level detector 101 includes a millimeter wave radar 1011, an optical data acquisition device 1012 as an imaging device, and a servo motor 1013. The system further includes: The edge numerical control base station 104 is also used to send generator control instructions to the servo motor 1013; The servo motor 1013 is used to drive the millimeter wave radar 1011 of the multimodal material level detector 101 and the optical data acquisition device 1012 to rotate synchronously in response to the motor control instruction, wherein each rotation corresponds to one scan; The millimeter wave radar 1011 is used to collect point cloud data at different angles during any scanning process, wherein the point cloud data obtained by one scan presents a cone shape in space, and the point cloud data obtained by one scan corresponds to a cone point cloud; The optical data acquisition device 1012 is used to synchronously acquire optical data corresponding to the angular orientation; The multimodal material level detector 101 is also used to respond to the material level measurement instruction, fuse the conical point cloud obtained from each scan and the corresponding optical data to form a hemispherical point cloud model, and perform integration operation on the spatial surface corresponding to the hemispherical point cloud model to obtain the average height of the material level in the chute, wherein the hemispherical point cloud model represents the spatial surface of the material surface in the chute.

[0025] Currently, the main technologies for detecting material levels in mine chutes include: weight-type level meters, laser level meters, microwave radar level meters, and multi-beam radar monitoring systems. These devices offer the advantages of compact size and high accuracy. However, in the high dust and moisture environments of mines, the transmission of data from storage media is severely affected, significantly compromising measurement accuracy and making data continuity difficult to ensure. They also require significant initial investment and maintenance, and most have limited measuring ranges, making them unsuitable for ultra-deep chutes of 200 meters or more.

[0026] In the above embodiment of the present application, the multimodal material level detector is composed of a millimeter-wave radar, an optical data acquisition device as an imaging device, and a servo motor, and is a "non-contact" detector. Specifically, the material level is measured by transmitting waves through the millimeter-wave radar and receiving reflected waves. Previous material level detectors used contact measurement methods. For example, they were equipped with a small weight. During detection, the small weight would come into contact with the material. However, the above embodiment of the present application uses a non-contact multimodal sensor to accurately monitor the material level. At the same time, it uses image and position sensors to realize the coordinated monitoring of mine car data. It focuses on solving the problems of limited range, insufficient real-time performance, and insufficient accuracy of current measurement methods. It uses image processing technology to effectively communicate with mine car information, realize the coordination of the ore discharge process, and effectively realize the online dynamic and accurate monitoring of the chute material level.

[0027] Specifically, the structure of the modal material level detector 101 is as follows: Figure 3 As shown, Figure 3 In the figure, the solid line represents a fixed mechanical connection, and the arrow represents a driven rotational connection. The millimeter-wave radar 1011 and the optical data acquisition device 1012 as an imaging device are fixedly connected in a coaxial rotation mode through a connector. The servo motor 1013 realizes the precise rotational movement of the millimeter-wave radar 1011 and the optical data acquisition device 1012 as an imaging device by receiving the generator control instruction.

[0028] Regarding the millimeter wave radar 1011, the following parameters can be set: Operating frequency band: 79GHz±1GHz; Beam width: azimuth × elevation ≤ 0.5°; Ranging resolution: 4 meters (distance greater than 1000 meters and less than 2000 meters); 2 meters (distance greater than 250 meters and less than 1000 meters); 0.4 meters (distance less than 250 meters); Ranging accuracy: better than one-quarter of the resolution; Beam pointing accuracy: servo motor control, better than 0.2 degrees.

[0029] Specifically, in the context of the preceding text, ranging resolution refers to the minimum distance between two adjacent targets that the radar can distinguish. If the distance between two targets is less than the ranging resolution, the radar may not be able to distinguish them as two separate targets, but rather as a single target. Therefore, the meaning of ranging resolution for different distance ranges is as follows: At distances greater than 1000 meters and less than 2000 meters, the ranging resolution is 4 meters. Within this longer range, the minimum distance between two targets that the millimeter-wave radar 1011 can distinguish is 4 meters. This means that when the distance between two targets is less than 4 meters, the radar may not be able to accurately distinguish them as two separate targets. For example, at a distance of 1500 meters, if two objects are 3 meters apart, the radar may display them as a single target.

[0030] When the distance is greater than 250 meters and less than 1000 meters, the ranging resolution is 2 meters. That is, when the target is within the range of 250 meters to 1000 meters, the radar's ranging resolution is improved to 2 meters. This means that within this distance range, the radar can distinguish between two targets 2 meters or more apart. For example, at a distance of 500 meters, two targets 2 meters apart can be clearly identified as two separate targets by the radar.

[0031] At distances less than 250 meters, the ranging resolution is 0.4 meters. This means that within a relatively close range of less than 250 meters, the radar's ranging resolution can reach 0.4 meters. At this point, the radar can distinguish between two targets 0.4 meters or more apart. For example, at a distance of 100 meters, two objects 0.4 meters apart can be accurately distinguished.

[0032] The ranging resolution of the millimeter-wave radar 1011 varies with target distance. At closer distances, it has higher resolution, enabling more accurate distinction between adjacent targets. At longer distances, however, the resolution is relatively low. This design is based on the radar's operating principles and actual application requirements to meet the accuracy requirements for target detection at different distances.

[0033] Furthermore, each chute needs to be equipped with at least one multimodal material level detector 101. During operation, by driving the millimeter-wave radar 1011 and the optical data acquisition device 1012 as an imaging device to rotate, point cloud data and optical data at different angles are collected. The point cloud of a cone surface can be scanned at a time. After multiple scans, modeling can be performed to obtain a hemispherical point cloud, realizing spatial modeling. Then, by integrating the spatial surface, the average material level height can be calculated.

[0034] Specifically, for example, an underground mine has three chutes (No. 1, No. 2, and No. 3), each of which has a multimodal material level detector 101 installed above it. The multimodal material level detector 101 consists of a millimeter-wave radar 1011, an optical data acquisition device 1012, and a servo motor 1013, and is used to monitor the material level in the chutes in real time. The specific measurement process is as follows: 1. Edge CNC base station 104 issues instructions. Within the mine's centralized control room, edge CNC base station 104 issues level measurement instructions to the multimodal level detectors 101 in each chute according to a pre-set monitoring plan. For example, level measurements may be scheduled at 8:00 AM, 12:00 PM, and 4:00 PM daily to ensure timely monitoring of level changes within the chute.

[0035] 2. Servo motor 1013 drives the detector to rotate and scan. After the multimodal material level detector 101 receives the material level measurement command, servo motor 1013 begins operation. The edge CNC base station 104 issues a generator control command to servo motor 1013. In response, servo motor 1013 drives the millimeter-wave radar 1011 and optical data acquisition device 1012 to rotate synchronously. Each rotation corresponds to a scan, covering the entire cross-section of the chute.

[0036] 3. Millimeter-wave radar 1011 collects point cloud data. During each scan, millimeter-wave radar 1011 transmits millimeter waves and receives reflected waves. By measuring information such as the time difference and intensity between the transmitted and reflected waves, millimeter-wave radar 1011 can collect point cloud data at different angles. Because the detector scans in a rotational manner, the point cloud data acquired from a single scan spatially presents a conical shape. This means that the point cloud data from a single scan corresponds to a conical point cloud. This point cloud data reflects distance information at different angles on the material surface within the chute.

[0037] 4. The optical data acquisition device 1012 acquires optical data. Synchronously with the scanning of the millimeter-wave radar 1011, the optical data acquisition device 1012 acquires optical data at corresponding angles and directions. This optical data provides image information of the material surface within the chute, supplementing the point cloud data from the millimeter-wave radar 1011 in material level measurement. For example, optical images allow for a more intuitive observation of the shape and characteristics of the material surface, helping to improve the accuracy of material level measurement.

[0038] 5. Data fusion forms a hemispherical point cloud model. The multimodal material level detector 101 fuses the cone point clouds obtained from each scan with the corresponding optical data. Using data fusion technology, the cone point clouds obtained from different scanning angles are spliced ​​and integrated, combined with the optical data to form a complete hemispherical point cloud model. This hemispherical point cloud model can more comprehensively and accurately represent the spatial surface of the material in the chute.

[0039] 6. Integral operation calculates the average material level height by performing an integral operation on the spatial surface corresponding to the hemispherical point cloud model. This integral operation converts the point cloud data on the spatial surface into specific numerical values, thereby determining the average material level height within the chute. For example, by averaging the distance information between points on the spatial surface, the average material height within the chute can be determined.

[0040] Specifically, the calculated average chute material level data is uploaded to the cloud server 107 via the mine's Ethernet ring network 105 for storage and analysis. Mine managers can access the cloud server to obtain real-time information about the material level of each chute. When the average material level of a particular chute reaches the full-bin limit, the edge CNC base station 104 promptly dispatches a mine car to that chute for loading, ensuring continuous and stable mine production.

[0041] Through the above process, the multimodal material level detector 101 can achieve accurate measurement of the chute material level, providing important data support for the mine car scheduling and production management.

[0042] In addition, the optical data acquisition device 1012 serving as an imaging device can be an infrared camera, and the communication method with the mine Ethernet ring network 105 is RJ45TCP / IP. The communication method between the millimeter wave radar 1011 and the mine car arrival sensing terminal 102 and the mine Ethernet ring network 105 is RS485 Modbus.

[0043] Optionally, the millimeter-wave radar 1011 uses a high-gain parabolic antenna to achieve beam narrowing, and uses a monolithic integrated SOC (System on a Chip) millimeter-wave chip to achieve signal transmission, reception, signal processing and pre-processing, and selects a low-slope linear frequency modulation signal mode for measurement, and selects frequency diversity and polarization diversity modes during measurement.

[0044] In the above-described embodiments of the present application, the parabolic antenna uses a reflective surface design to focus electromagnetic waves into a narrow beam, which can improve directivity. This narrow beam can precisely point to the surface of the material within the chute, reducing sidelobe interference (such as reflections from the chute wall), lowering the risk of false measurements, and simultaneously reducing interference from other directional clutter (such as nearby equipment and dust), thereby improving the signal-to-noise ratio and ensuring measurement reliability, especially in complex mining environments. The narrower the beam, the higher the spatial resolution, which can more clearly distinguish the boundary between the material surface and the chute structure, thereby improving the accuracy of material level calculations.

[0045] The monolithic SOC integrates the functions of a millimeter-wave chip, such as transmission, reception, signal processing (e.g., FFT, target detection), and pre-processing (e.g., filtering, amplification) into a single chip. The integrated design reduces the number of external components (e.g., discrete RF devices and processors), accommodating the compact deployment requirements of chute detectors (e.g., installation on the top or sidewall of a chute). It also reduces board-level connections (e.g., solder joints and cables), minimizing the risk of failures due to vibration and temperature fluctuations, and ensuring long-term stable operation in harsh mining environments. The chip's integrated signal processing module enables rapid point cloud data generation (e.g., distance-angle mapping), reducing communication latency with external processors and improving the real-time performance of material level measurements.

[0046] Low-slope linear frequency modulation (LFM) mode uses an FM signal whose transmitted frequency varies linearly over time. Distance is calculated by measuring the frequency difference between the reflected and transmitted signals. This low slope (slow frequency change rate) maintains a certain ranging resolution (determined by bandwidth) while reducing the signal processing requirements for high-speed ADCs (analog-to-digital converters) and DSPs (digital signal processors), simplifying hardware design. LFM signals have a certain ability to suppress multipath effects (such as multiple reflections from material surfaces). Combined with subsequent signal processing (such as constant false alarm detection), this can reduce ranging errors caused by multipath interference. Low-slope LFM's longer frequency modulation period results in more concentrated signal energy, improving detection of weakly reflective targets (such as material surfaces in low-dust environments).

[0047] Frequency diversity and polarization diversity modes simultaneously or alternately transmit multiple signals at different frequencies (e.g., different frequencies within 79 GHz ± 1 GHz). Signals with different polarization directions (e.g., horizontal H and vertical V polarization) are transmitted and received. Frequency diversity reduces signal loss caused by frequency-selective fading (e.g., reflection attenuation at specific frequencies due to material surface roughness), improving measurement reliability. Polarization diversity utilizes the differences in reflection characteristics of signals with different polarizations (e.g., H polarization has strong reflections on horizontal surfaces, while V polarization has strong reflections on vertical surfaces) to more comprehensively capture geometric features of the material surface (e.g., tilt and unevenness), reducing signal blind spots caused by polarization mismatch. Combining reflected signals from multiple frequencies and polarizations generates richer point cloud data (e.g., distance information at different frequencies, reflection intensities at different polarizations), helping to distinguish the material surface from interfering objects (e.g., debris hanging in a chute), and improving the accuracy of material level calculations.

[0048] To this end, by applying the above-mentioned embodiments of the present application, the millimeter-wave radar 1011 can achieve high-precision, high-reliability, and high-integration measurements in chute material level detection. At the same time, high-gain antennas and diversity technology ensure signal quality in complex environments; SOC chips and low-slope LFM balance performance and cost to adapt to mine deployment requirements; multimodal data fusion (point cloud + optics) further improves the accuracy of average material level height calculation, providing a reliable basis for mine car scheduling.

[0049] In particular, regarding the suppression of multipath effects from the wellbore wall, waveform design can be used to employ frequency diversity and polarization diversity methods, and multipath signal suppression can be achieved through beam sidelobe pointing and target interference fringe position. The basic processing flow is as follows: First, the platform is leveled and aligned. Then, signals of different frequencies and polarizations are transmitted in separate channels, and range measurements are performed within each channel. Target positions are correlated between channels to mitigate multipath effects. Accumulation processing is performed to improve ranging accuracy. Ranging results are output, stored, and post-processed as needed.

[0050] Optionally, the system further includes a plurality of mine car snapshot cameras 103, which are distributed and installed on the mine track. The mine car snapshot cameras 103 correspond to preset serial numbers, and the mine car travels along the mine track. The system further includes: The mine car snapshot camera 103 is used to capture images of the mine car while it is traveling, and upload the captured images to a cloud server via the mine Ethernet ring network; The edge numerical control base station 104 is further configured to obtain the mine car images captured by two adjacent mine car capture cameras stored in the cloud server, and determine the direction of travel of the mine car based on the acquired mine car images and the preset serial numbers corresponding to the mine car capture cameras that captured the mine car images; The edge numerical control base station 104 is also used to readjust the driving direction of the mine car when the driving direction of the mine car deviates from the target chute until the mine car drives towards the target chute.

[0051] In the above-described embodiment of the present application, the mine car snapshot cameras 103 can be blacklight cameras. All cameras (the infrared camera of the optical data acquisition device 1012, which serves as an imaging device, and the blacklight camera of the mine car snapshot cameras 103) can communicate with the mine Ethernet ring network 105 via RJ45 TCP / IP. The mine car snapshot cameras 103 are imaging devices installed on each side of the mine track and are used to determine the direction of travel and load factor of the mine car. The direction of travel of the mine car can be determined by identifying the order in which the mine cars are captured by two adjacent mine car snapshot cameras 102 and the relationship between the mine track topology.

[0052] For example, an underground mine using a rail transportation system has three main transport tracks (tracks A, B, and C), each with multiple chutes (for example, track A corresponds to chutes A1 and A2). The mine deploys five mine car capture cameras 103 (cameras 1-5), installed at key track nodes (such as forks and chute entrances). Each camera is assigned a unique preset serial number (for example, camera 1 has serial number 001). Mine cars must follow dispatch instructions to drive to the target chute.

[0053] First, the capture and upload of images from the mine car cameras is implemented. Cameras 1 and 2 are installed at the entrance and the first fork in the road on Track A, Cameras 3 and 4 are installed at the fork in the road on Track B and the entrance to chute B1, and Camera 5 is installed at the entrance to chute C1 on Track C. When a mine car passes through the camera coverage area (e.g., triggered by infrared sensors or radar), camera 103 automatically captures an image of the mine car (including the license plate number and vehicle heading) and uploads the image to cloud server 107 via the mine Ethernet ring network 105. For example, when mine car M001 travels from the entrance of Track A to chute A2, camera 1 (serial number 001) captures an image of the car facing right, while camera 2 (serial number 002) captures an image of the car facing left.

[0054] Next, the edge numerical control base station 104 periodically obtains the mine car images and corresponding serial numbers taken by adjacent cameras from the cloud server 107 .

[0055] If the base station obtains images from camera 1 (001) and camera 2 (002), and the shooting time of camera 1 is earlier than that of camera 2, the direction of the mine car is determined to be "camera 1 to camera 2".

[0056] Combined with the direction of the vehicle head in the image (for example, the vehicle head faces right in the image of camera 1 and faces left in the image of camera 2), confirm that the actual driving direction of the mine car is consistent with the sequence of the serial numbers (Track A is a one-way loop, the vehicle head facing left indicates returning to the entrance, and facing right indicates heading to the chute).

[0057] If camera 1 captures the vehicle head facing right, but camera 2 does not capture the image (or captures the vehicle head facing in the opposite direction), it is determined that the mine car may have deviated from the track or stopped.

[0058] If the base station determines that the mine car is traveling in the direction of "camera 1 to the entrance" (away from chute A2) through the images of cameras 1 and 2, it will immediately send a "turn right" command to the mine car control system, adjust the mine car to enter the branch line at the fork in the road, and redirect it to chute A2.

[0059] Specifically, if a mine cart stops between Camera 2 and chute A2 due to a track blockage, the base station triggers an alarm based on the continuous lack of images from Camera 3 (the entrance to chute A2), enabling the dispatch of nearby maintenance personnel. The base station continuously monitors the cart's position until Camera 3 captures the cart entering chute A2, confirming mission completion.

[0060] To this end, direction determination is achieved through pre-set serial numbers and image timestamps, eliminating the need for additional sensors (such as GPS) and adapting to underground mine environments without GPS signals. The Mine Ethernet Ring 105 provides low-latency communication (<100ms), ensuring the base station's rapid response to direction deviations. Dual verification, combining image content (vehicle head direction) with serial number sequence, prevents misjudgments caused by camera failure or time synchronization errors.

[0061] Optionally, the system further comprises: The edge CNC base station 104 is also used to calculate the full load rate of the mine car when the mine car reaches the target chute position based on the average material level height of the target chute and the rated load of the mine car, and upload the calculated full load rate to the cloud server through the mine Ethernet ring network.

[0062] The edge numerical control base station 104 is also used to adjust the full warehouse limit height based on the full load rate of the mining car.

[0063] In the above embodiment of the present application, for example, an underground iron mine adopts a rail transportation system with three chutes (A1, A2, and A3), each of which is equipped with a multimodal material level detector 101 for real-time monitoring of the average material level. The mine deploys five mine cars (all with a rated load of 20 tons), and the edge CNC base station 104 is responsible for scheduling the mine car loading operations. The current demand is: when the mine car arrives at the target chute, the base station needs to dynamically calculate the full load rate based on the material level height and the mine car load, and optimize the full warehouse limit height to improve loading efficiency. Specific process, for example: First, the trigger conditions for a mine car to reach the target chute are determined, including location confirmation. Mine car M001 arrives at the entrance of chute A1, identified by its track RFID tag or camera 103. Base station 104 receives the location signal and initiates the load factor calculation process. Data preparation: The base station obtains the real-time average material level of chute A1 (e.g., 15 meters) and the rated load capacity of mine car M001 (20 tons) from cloud server 107.

[0064] Next, regarding the calculation logic for the full load factor, the full load factor is calculated as the ratio of the load capacity corresponding to the current material level to the rated load of the mine car multiplied by 100%. Based on the geometry of chute A1 (e.g., a conical stockpile) and the material density (iron ore density is approximately 3.5 tons per cubic meter), base station 104 converts the material level height of 15 meters into volume. The load capacity is then calculated as the product of the stockpile volume and the material density. If the calculated full load factor exceeds 100%, the base station automatically corrects it to 100% and triggers an alarm indicating "Insufficient material level, restocking required."

[0065] The base station 104 encapsulates the mine car ID (M001), chute ID (A1), full load rate (100%), and timestamp into JSON format data, uploads it to the cloud server 107 through the mine Ethernet ring network 105, for example, using the MQTT protocol, and stores it in a time series database (such as InfluxDB) for subsequent analysis.

[0066] In particular, the full warehouse limit height can be optimized according to the full load rate to avoid overloading or underloading of the mine car: For example, if the full load rate is less than 80%, increase the full warehouse limit height (such as from 12 meters to 14 meters) to increase the single loading capacity; if the full load rate is greater than 95%, lower the limit height (such as from 12 meters to 10 meters) to prevent overloading.

[0067] The cloud server 107 can also regularly analyze the relationship between full load rate and loading efficiency and optimize the base station adjustment strategy (such as predicting the optimal limit height through a machine learning model).

[0068] Optionally, the mine car arrival sensing terminal 102 is an RFID (Radio Frequency Identification) receiver, which transmits a radio frequency signal of a preset frequency in real time. The mine car arrival sensing terminal 102 is installed at a preset position at the entrance of the chute, and the mine car has an electronic tag. The system further includes: The mine car arrival sensing terminal 102 is further used to capture the return radio frequency signal reflected by the electronic tag on the mine car, and measure the distance between itself and the mine car based on the captured return radio frequency signal; The mine car arrival sensing terminal 102 is further used to determine that the target mine car has arrived at the target chute position when the measured distance is less than a preset distance threshold, wherein the preset distance threshold is determined based on the actual distance between the target chute position and the mine car arrival sensing terminal.

[0069] In the above embodiment of the present application, the mine car arrival sensing terminal 102 can be a position sensor, such as a light sensor. The mine car arrival sensing terminal 102 is an RFID receiver. Each mine car is equipped with a unique electronic tag. By calculating the distance between the RFID receiver and the electronic tag, the ID of the mine car and its arrival status can be determined.

[0070] For example, an underground copper mine has chute B1, which is used to load copper ore into mine carts. A mine cart arrival detection terminal 102 (RFID receiver, 915MHz frequency) is installed at the entrance of chute B1, and a passive electronic tag (compliant with EPC C1G2 standard) is attached to the front of mine cart M005. The system requirement is that when mine cart M005 arrives at the loading position of chute B1, terminal 102 must accurately detect the arrival signal and trigger the loading system to start. The specific process is as follows: 1. Working principle of RFID terminal: Signal transmission: The mine car arrival sensing terminal 102 periodically transmits radio frequency pulses (pulse width 10μs, period 50ms) of a preset frequency (915MHz) through the antenna, with a coverage range of about 5 meters.

[0071] Tag reflection: After the electronic tag of mining car M005 enters the signal coverage area, it receives RF energy and reflects the modulated signal (that is, the returned RF signal with a carrier frequency offset of ±100kHz), carrying the tag's unique ID (such as EPC code).

[0072] Signal capture: The terminal 102 captures the reflected signal (i.e., the returned RF signal), obtains the tag ID through demodulation, and records the signal round-trip time (ToF).

[0073] 2. Distance measurement logic: Formula: Distance = ToF × c / 2, (c is the speed of light; ToF is the round-trip time of the signal).

[0074] For time measurement: Terminal 102 has a built-in high-precision timer (resolution 1ns) to measure the time difference between the transmission of the RF pulse and the reception of the reflected signal.

[0075] For example, if ToF=30ns, the distance is: 30 ns×3×10 8 m / s / 2=4.5.

[0076] For filtering processing: To eliminate multipath interference (such as ground reflection), the terminal uses a sliding average filter (window size 5 times) to output a stable distance value.

[0077] 3. Determine the preset distance threshold: Installation and calibration: Terminal 102 is installed 1 meter to the right of the entrance of chute B1. The mine car loading position requires the car head to be aligned with the chute discharge port (actual distance is 2 meters).

[0078] Threshold setting: Based on measured data, when the mine car's head is 2 meters away from terminal 102, the signal strength (RSSI) is -65dBm, and the ToF ranging error is ±0.1 meter. The system sets the threshold to 1.8 meters (with a 0.2-meter margin).

[0079] 4. Arrival determination and system response: Judgment condition: If the terminal 102 measures the distance for three consecutive times and the results are all less than 1.8 meters, and the tag ID matches the EPC code of the preset mine car M005, it is judged to be "in place".

[0080] Signal transmission: The terminal sends a position signal to the edge numerical control base station 104 through the mine Ethernet ring network 105.

[0081] Loading start: After receiving the signal, the base station 104 sends a command to the PLC controller of the chute B1 to start the vibrating feeder to load ore into the mine car.

[0082] Optionally, the system further includes a real-time material level display screen 106 , and the edge numerical control base station 104 is an edge computing device composed of a CPU (Central Processing Unit) and an NPU (Neural Processing Unit). The system further includes: The edge numerical control base station 104 is also used to send material level display instructions to the real-time material level display screen; The real-time material level display screen 106 is used to respond to the material level display instruction and display the average height of the material level in the chute detected in real time by the multi-modal material level detector.

[0083] In the above-described embodiment of the present application, the real-time material level display 106 can be an LED display, used to display the average material level height calculated by the multimodal material level detector 101. Specifically, the underground iron mine has three main chutes (A, B, and C), each equipped with a multimodal material level detector 101. Chute A is responsible for loading iron ore into five mine cars and requires real-time material level display to guide loading operations. The system upgrade goal is to enable local processing of material level data through edge computing devices and deploy a real-time material level display 106 in the chute control room for intuitive monitoring by operators.

[0084] Real-time material level display screen 106, such as a 10.1-inch industrial-grade touch screen (resolution 1920×1200, brightness 800cd / m 2 ), supporting the Modbus TCP protocol. The multimodal detector 101 in chute A collects three types of data simultaneously every second: The CPU encapsulates the processed material level data (average height, timestamp, status code) into JSON instructions and sends the instructions to the display screen 106 via Ethernet using the UDP protocol (low latency) with a cycle of 1 second. The display screen 106 parses the JSON instructions and updates the UI interface. Therefore, the control personnel can view the current material level of each chute in real time.

[0085] Currently, the accuracy of single-mode radar height measurement depends on the weight of the ore and the accuracy of the interpolation equation for the chute height curve. Multiple repeated measurements are required for each chute to ensure accuracy. Furthermore, due to the small diameter and deep chute openings, radar ranging is prone to multipath, resulting in inaccurate measurements. Furthermore, data upload and real-time interaction, as well as coordinated mine car scheduling, are not possible, making dynamic material monitoring impossible.

[0086] By applying the technical solution of this embodiment, accurate monitoring of material levels is achieved through multimodal sensors, while image and position sensors are used to achieve collaborative monitoring of mine car data. Finally, edge CNC base stations are used to achieve networking and interoperability of all device data, ultimately achieving online dynamic and accurate monitoring of chute material levels. In addition, in the material level monitoring system that combines mine cars and the entire networked mine, the special settings for millimeter-wave radars can prevent multipath from affecting measurement accuracy; as well as the RFID positioning method for mine cars arriving at the station, the topologically linked mine car capture camera can improve the online dynamic and accurate monitoring of chute material levels and the scheduling accuracy of mine cars.

[0087] Further, as Figure 1 The specific implementation of the system, the embodiment of the present application provides a mine car scheduling method based on chute material level monitoring, such as Figure 4 As shown, the method includes: Step 201: The edge numerical control base station sends a material level measurement instruction to the multimodal material level detector; In step 202, the multimodal material level detector detects the average material level in the chute in real time in response to the material level measurement instruction, and uploads the detected average material level to the cloud server via the mine Ethernet ring network; Step 203: When the edge numerical control base station queries the average material level stored in the cloud server and finds that there is a target chute whose average material level reaches the full-bin limit height, the mine car is dispatched to the target chute; In step 204, the mine car arrival sensing terminal monitors the position of the mine car in real time during the driving process of the mine car, and controls the mine car to stop driving when it detects that the mine car has reached the target chute position.

[0088] Based on the above Figure 4 The method shown in FIG. 1 is a method for performing the above-mentioned operation. Accordingly, the embodiment of the present application further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned operation is performed. Figure 4 The mine car scheduling method based on chute material level monitoring is shown.

[0089] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), and includes a number of instructions for enabling a device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0090] Those skilled in the art will appreciate that the storage medium provided in this embodiment may also include an operating system and a network communication module. An operating system is a program that manages and stores device hardware and software resources, supporting the execution of information processing programs and other software and / or programs. The network communication module is used to enable communication between components within the storage medium, as well as communication with other hardware and software within the physical device.

[0091] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus the necessary general hardware platform, or by hardware to implement an edge CNC base station for issuing a material level measurement instruction to a multimodal material level detector; a multimodal material level detector for responding to the material level measurement instruction, detecting the average material level height in the chute in real time, and uploading the detected average material level height to the cloud server through the mine Ethernet ring network; an edge CNC base station for dispatching a mine car to a target chute when it is found that the target chute has an average material level height reaching the full warehouse limit height based on the average material level height stored in the cloud server; a mine car arrival sensing terminal for monitoring the position of the mine car in real time during the driving process of the mine car, and controlling the mine car to stop driving when it is detected that the mine car has reached the target chute position. Through real-time monitoring of the chute material level and precise scheduling of the mine car, transportation efficiency is improved and production continuity and safety are guaranteed.

[0092] Those skilled in the art will understand that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required to implement the present application.

[0093] The serial numbers of the above application are for descriptive purposes only and do not represent the advantages or disadvantages of the implementation scenarios. The above disclosures are only a few specific implementation scenarios of the present application, but the present application is not limited thereto, and any changes that can be made by those skilled in the art should fall within the scope of protection of the present application.

Claims

1. A mine car dispatching system based on chute material level monitoring, characterized in that: The system comprises: Edge CNC base station, multi-modal material level detector, mine Ethernet ring network, cloud server and mine car arrival sensing terminal; The edge numerical control base station is used to send material level measurement instructions to the multimodal material level detector; The multimodal material level detector is used to detect the average material level height in the chute in real time in response to the material level measurement instruction, and upload the detected average material level height to the cloud server via the mine Ethernet ring network; The edge numerical control base station is further configured to dispatch a mine car to a target chute when it is determined that the average material level has reached a target chute full-bin limit height based on the average material level stored in the cloud server; The mine car arrival sensing terminal is used to monitor the position of the mine car in real time during its travel, and to control the mine car to stop traveling when it is detected that the mine car has reached the target chute position.

2. The system according to claim 1, wherein: The system includes multiple chute, and each chute corresponds to at least one multimodal material level detector, which includes a millimeter wave radar, a servo motor, and an optical data acquisition device as an imaging device. The system also includes: The edge numerical control base station is also used to issue generator control instructions to the servo motor; The servo motor is used to drive the millimeter wave radar of the multimodal material level detector and the optical data acquisition device to rotate synchronously in response to the motor control instruction, wherein each rotation corresponds to one scan; The millimeter-wave radar is used to collect point cloud data at different angles during any scanning process, wherein the point cloud data obtained by a single scan presents a cone shape in space, and the point cloud data obtained by a single scan corresponds to a cone point cloud; The optical data acquisition device is used to synchronously acquire optical data corresponding to the angular orientation; The multimodal material level detector is also used to respond to the material level measurement instruction, fuse the conical point cloud obtained from each scan and the corresponding optical data to form a hemispherical point cloud model, and perform integration operation on the spatial surface corresponding to the hemispherical point cloud model to obtain the average height of the material level in the chute, wherein the hemispherical point cloud model represents the spatial surface of the material surface in the chute.

3. The system according to claim 2, characterized in that The millimeter-wave radar uses a high-gain parabolic antenna to achieve beam narrowing, and a monolithic integrated SOC (System on a Chip) millimeter-wave chip to achieve signal transmission, reception, signal processing and pre-processing. A low-slope linear frequency modulation signal mode is selected for measurement, and frequency diversity and polarization diversity modes are selected during measurement.

4. The system according to claim 1, wherein: The system further includes a plurality of mine car snapshot cameras, which are distributed and installed on the mine track. The mine car snapshot cameras correspond to preset serial numbers, and the mine car travels along the mine track. The system further includes: The mine car snapshot camera is used to capture images of the mine car while it is traveling, and upload the captured images to a cloud server via the mine Ethernet ring network; The edge numerical control base station is further used to obtain the mine car images captured by two adjacent mine car capture cameras stored in the cloud server, and determine the driving direction of the mine car based on the obtained mine car images and the preset serial numbers corresponding to the mine car capture cameras that captured the mine car images; The edge numerical control base station is also used to readjust the driving direction of the mine car when the driving direction of the mine car deviates from the target chute until the mine car drives towards the target chute.

5. The system according to claim 4, characterized in that The system further comprises: The edge numerical control base station is also used to calculate the full load rate of the mine car based on the average material level height of the target chute and the rated load of the mine car when the mine car reaches the target chute position, and upload the calculated full load rate to the cloud server through the mine Ethernet ring network; The edge numerical control base station is also used to adjust the full warehouse limit height based on the full load rate of the mining car.

6. The system according to claim 1, wherein: The mine car arrival sensing terminal is an RFID (Radio Frequency Identification) receiver. The mine car arrival sensing terminal transmits a radio frequency signal of a preset frequency in real time. The mine car arrival sensing terminal is installed at a preset position at the chute entrance. The mine car has an electronic tag corresponding to it. The system also includes: The mine car arrival sensing terminal is further used to capture the return radio frequency signal reflected by the electronic tag on the mine car, and measure the distance between itself and the mine car based on the captured return radio frequency signal; The mine car arrival sensing terminal is also used to determine that the target mine car has reached the target chute position when the measured distance is less than a preset distance threshold, wherein the preset distance threshold is determined based on the actual distance between the target chute position and the mine car arrival sensing terminal.

7. The system according to any one of claims 1 to 6, characterized in that The system also includes a real-time material level display screen, and the system also includes: The edge numerical control base station is also used to send material level display instructions to the real-time material level display screen; The real-time material level display screen is used to respond to the material level display instruction and display the average height of the material level in the chute detected in real time by the multi-modal material level detector.

8. The system according to claim 7, characterized in that The edge numerical control base station is an edge computing device composed of a CPU (Central Processing Unit) and an NPU (Neural Processing Unit).

9. A mine car dispatching method based on chute material level monitoring, characterized in that: The method comprises: The edge CNC base station sends material level measurement instructions to the multi-modal material level detector; The multi-modal material level detector responds to the material level measurement instruction, detects the average material level height in the chute in real time, and uploads the detected average material level height to the cloud server through the mine Ethernet ring network; When the edge CNC base station finds a target chute with an average material level that reaches the full-bin limit height based on the average material level stored in the cloud server, it dispatches the mine car to the target chute; The mine car arrival sensing terminal monitors the position of the mine car in real time during its travel, and controls the mine car to stop when it detects that the mine car has reached the target chute position.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the mine car scheduling method based on chute material level monitoring as claimed in claim 9 is implemented.

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