Method for assisting vehicle passing on mine truck unmanned transportation road

Abstract

The invention discloses a method for assisting vehicle passing on a mine truck unmanned transportation road. The method comprises the following steps: acquiring mine card operation data and a transportation road management and control area scene video; according to the obtained mine card operation data, whether the mine card enters a transportation road management and control area is judged, data obtained through pre-training are utilized to compare targets in the scene video, and whether the mine card enters the transportation road management and control area is determined; when the mine card enters the transportation road management and control area, the transportation road management and control area only allows the mine card to pass, the management and control access control rod is in a normally open state, and when the mine card enters the transportation road management and control area, the management and control access control rod is closed; when the auxiliary vehicle passes, the mine card enters the transportation road management and control area, the entering direction management and control access control rod is closed, the auxiliary vehicle is forbidden to enter the transportation road management and control area, the leaving direction management and control access control rod is opened, and the auxiliary vehicle is allowed to leave the transportation road management and control area; the leaving direction control access control rod is closed.

Description

Technical Field

[0001] The invention relates to a method for assisting vehicles to pass through an unmanned mining truck transport road, belonging to the technical field of intelligent control. Background Art

[0002] Unmanned intelligent mining, stripping and transportation are the most labor-intensive links in open-pit mines. Remote control and tele-control technologies are mainly promoted and applied in the mining and loading links to realize remote control of equipment such as electric shovels and excavators; unmanned driving technologies of electric locomotives and mining trucks are fully promoted and applied in the transportation link to realize unmanned transportation operations and promote the inherent safety of mines.

[0003] Open-pit mine truck transport routes inevitably require intersections with auxiliary vehicles. Current purely manual methods for controlling intersections are insecure and lack intelligence. Therefore, it is urgent to develop a method for assisting vehicles to navigate intersections with unmanned truck transport. This method would allow for safe control of both trucks and the auxiliary vehicles passing through, ensuring the safe passage of auxiliary vehicles while ensuring that unmanned truck transport operates within a relatively closed area, thus improving mine safety management and intelligence. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for auxiliary vehicles to pass through the road of unmanned mining trucks, which is used to solve the problems of safe passage of mining trucks and auxiliary vehicles, ensuring the safe passage of auxiliary vehicles, and ensuring the safe and stable operation of unmanned mining trucks in a relatively closed area.

[0005] In order to solve the above problems, the technical solution of the present invention is: a method for assisting vehicles to pass through unmanned mining truck transport roads, characterized by comprising:

[0006] Acquire mining truck operation data and transport road control area scene video; mining truck operation data is acquired in real time, and transport road control area scene video acquires target information such as mining trucks, auxiliary vehicles, and personnel within the control area;

[0007] Based on the acquired mining truck operation data, determine whether the mining truck has entered the transport road control area. Use the pre-trained data to compare the targets in the scene video to confirm whether the mining truck has entered the transport road control area.

[0008] When a mining truck enters the transport road control area, only mining trucks are allowed to pass through the transport road control area. The control access pole is normally open during the day shift. When a mining truck enters the transport road control area, the control access pole is closed. The night shift control access pole is normally closed. When a mining truck is not in the transport road control area and an auxiliary vehicle runs to the control access pole, the control access pole is opened.

[0009] Based on the mining truck operation data, determine whether the mining truck has left the intersection control area. Use the pre-trained data to compare the targets in the scene video to confirm whether the mining truck has left the transportation road control area.

[0010] When the mining truck is not in the transport road control area, auxiliary vehicles can pass through. When the auxiliary vehicle enters the control access pole, the auxiliary vehicle entering is recorded. When it exits from the other side, it must be detected in real time to detect whether there are any auxiliary vehicles in the transport road control area;

[0011] When auxiliary vehicles pass, the mining truck enters the transport road control area, the entry direction control access bar is closed, and the auxiliary vehicle is prohibited from entering the transport road control area. The exit direction control access bar is opened, allowing the auxiliary vehicle to leave the transport road control area. When there are no auxiliary vehicles in the transport road control area, the exit direction control access bar is also closed.

[0012] Furthermore, the operation data of mining trucks can be obtained in real time. The acquisition method can be the push of mining truck unmanned driving data or the collection of mining truck unmanned driving operation data by the industrial data platform. The positioning information of mining trucks that will pass through the control area is filtered out from the obtained mining truck operation data, and the scene video of the transportation road control area obtains target information such as mining trucks, auxiliary vehicles, and personnel contained in the control area.

[0013] Furthermore, the control area is a heavy-load running direction control area and an unloaded running direction control area set according to the on-site situation. The heavy-load running direction control area is a safe distance area between the heavy-load running direction and the intersection and the intersection area. The unloaded running direction control area is a safe distance area between the unloaded running direction and the intersection and the intersection area. The control area is stored in the form of coordinate data.

[0014] The mining truck operation data includes the coordinates and running speed of the mining truck. The coordinates of the mining truck are compared with the coordinates of the control area. If the coordinates of the mining truck are within the control area, the running speed is close to zero and the coordinates do not change within a certain period of time, the mining truck is considered to be in a waiting state. If the mining truck maintains a certain running speed and the coordinates are constantly changing, it is considered that the mining truck has entered the transport road control area.

[0015] Obtain the target information of the mining truck in the scene video, and by comparing it with the designated control area, confirm again whether the mining truck has entered the transportation road control area; obtain whether there is auxiliary vehicle and personnel target information in the scene video. If the mining truck enters the transportation road control area and auxiliary vehicle and personnel information is detected in the scene video, it is considered an abnormal intrusion.

[0016] Furthermore, when a mining truck enters the transport road control area, the highest priority is the mining card. Only mining cards are allowed to pass in the transport road control area, and auxiliary vehicles and personnel should give way. When there are obstacles such as auxiliary vehicles and personnel in the control area, the mining truck detects the obstacles in front through the on-board radar. At the same time, the mining truck's empty load system takes measures such as deceleration or stopping according to the distance to the obstacle and the running speed of the mining truck to ensure operation safety. When the obstacle is cleared, the mining truck resumes normal operation.

[0017] Furthermore, the mining truck operation data includes the coordinates and running speed of the mining truck. The coordinates of the mining truck are compared with the coordinates of the control area. If the coordinates of the mining truck leave the intersection control area, the mining truck maintains a certain running speed and the coordinates are constantly changing, it is considered that the mining truck has left the transportation road control area.

[0018] Obtain the target information of the mining truck in the scene video, and by comparing it with the designated control area, confirm again whether the mining truck has left the transportation road control area. The control ends after the mining truck leaves the control area.

[0019] Furthermore, in this step, when an auxiliary vehicle passes, the license plate recognition system on the side where the access control pole enters records the auxiliary vehicle entering the control area, and the license plate recognition system on the side where the access control pole leaves records the auxiliary vehicle leaving the control area. By recording the data of the license plate recognition system on the side where the access control pole enters and leaves, it is calculated whether there are any auxiliary vehicles in the control area.

[0020] Furthermore, when auxiliary vehicles pass through, if the mining truck enters the control area, the entry direction control access pole will be closed after the yellow light flashes. If there are auxiliary vehicles in the control area, the exit direction control access pole will not be closed. The entry direction of the control area is protected by a safe distance, and there is enough time to ensure that the auxiliary vehicle leaves. A safe area is reserved on the side of the control area for the exit direction control pole. When the exit direction control access pole is abnormally closed, the auxiliary vehicle can stay in the safe area before leaving.

[0021] The beneficial effects of the present invention are as follows: the method realizes the safe passage of mining truck transport road intersections, improves the efficiency of unmanned driving of mining trucks, realizes unmanned operation at mining truck transport road intersections, avoids interference from human factors, realizes unmanned on-site operations, and provides a basis for improving the inherent safety of mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 The present invention provides a flowchart of a method for assisting vehicles in passing through unmanned mining truck transportation roads. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0025] See also Figure 1 , which shows a flow chart of a method for assisting vehicles to pass through an unmanned mining truck transport road in the present application.

[0026] like Figure 1 As shown, a method for assisting vehicles to pass through an unmanned mining truck transport road specifically includes the following steps:

[0027] Step S1, obtaining mining truck operation data and transportation road control area scene video;

[0028] In this step, the mining truck operation data can be obtained in real time. The acquisition method can be the push of mining truck unmanned driving data or the collection of mining truck unmanned driving operation data by the industrial data platform. The obtained mining truck operation data is filtered out to obtain the positioning information of the mining truck that will pass through the control area, and the scene video of the transport road control area is used to obtain the target information such as mining trucks, auxiliary vehicles, and personnel within the control area;

[0029] Further preferably, the positioning information and video target information of each mining truck are converted into standard format data to facilitate subsequent data processing.

[0030] Step S2: Based on the acquired mining truck operation data, determine whether the mining truck has entered the transport road control area, and use the pre-trained data to compare the target in the scene video to confirm whether the mining truck has entered the transport road control area;

[0031] In this step, the control area is the heavy-load direction control area and the unloaded direction control area set according to the on-site conditions. The heavy-load direction control area is the safe distance area between the heavy-load direction and the intersection and the intersection area. The unloaded direction control area is the safe distance area between the unloaded direction and the intersection and the intersection area. The control area is stored in the form of coordinate data.

[0032] The mining truck operation data includes the coordinates and running speed of the mining truck. The coordinates of the mining truck are compared with the coordinates of the control area. If the coordinates of the mining truck are within the control area, the running speed is close to zero and the coordinates do not change within a certain period of time, the mining truck is considered to be in a waiting state. If the mining truck maintains a certain running speed and the coordinates are constantly changing, it is considered that the mining truck has entered the transport road control area.

[0033] Obtain the target information of the mining truck in the scene video and compare it with the designated control area to confirm whether the mining truck has entered the transportation road control area. Obtain the target information of auxiliary vehicles and personnel in the scene video. If the mining truck enters the transportation road control area and auxiliary vehicles and personnel are detected in the scene video, it is considered an abnormal intrusion.

[0034] Step S3: When a mining truck enters the transport road control area, only mining trucks are allowed to pass through the transport road control area. The control access control pole is in the open state during the day shift. When a mining truck enters the transport road control area, the control access control pole is closed. The night shift control access control pole is in the closed state. When a mining truck is not in the transport road control area and an auxiliary vehicle runs to the control access control pole, the control access control pole is opened.

[0035] In this step, when a mining truck enters the transport road control area, the highest priority is the mining card. Only mining cards are allowed to pass in the transport road control area, and auxiliary vehicles and personnel should give way. When there are obstacles such as auxiliary vehicles and personnel in the control area, the mining truck detects the obstacles in front through the on-board radar. At the same time, the mining truck's empty load system takes measures such as deceleration or stopping according to the distance to the obstacle and the running speed of the mining truck to ensure operation safety. When the obstacle is cleared, the mining truck resumes normal operation.

[0036] During normal production, there are more auxiliary vehicles passing through during the day shift, and mining equipment such as mining trucks are under maintenance. Mining cards are less likely to pass through, so the day shift control access control bar is always open. When mining trucks enter the transport road control area, the control access control bar is closed. There are fewer auxiliary vehicles passing through during the night shift, and mining equipment such as mining trucks are in efficient production. Mining cards are more likely to pass through, so the night shift control access control bar is always closed. Auxiliary vehicles are only allowed to pass when there are no mining trucks in the control area.

[0037] Step S4: Based on the mining truck operation data, determine whether the mining truck has left the intersection control area, and use the pre-trained data to compare the targets in the scene video to confirm whether the mining truck has left the transportation road control area.

[0038] In this step, the mining truck operation data includes the coordinates and running speed of the mining truck. The coordinates of the mining truck are compared with the coordinates of the control area. If the coordinates of the mining truck leave the intersection control area, the mining truck maintains a certain running speed and the coordinates are constantly changing, it is considered that the mining truck has left the transport road control area.

[0039] Obtain the target information of the mining truck in the scene video and compare it with the designated control area to confirm again whether the mining truck has left the transport road control area. The control ends when the mining truck leaves the control area.

[0040] Step S5: When the mining truck is not in the transport road control area, the auxiliary vehicle passes. When the auxiliary vehicle enters the control gate, the auxiliary vehicle entering is recorded. When it exits from the other side, a detection is performed to detect in real time whether there are any auxiliary vehicles in the transport road control area.

[0041] In this step, when an auxiliary vehicle passes, the license plate recognition system on the side of the control access pole enters the control area and records the auxiliary vehicle entering the control area. The license plate recognition system on the side of the control access pole leaves the control area. By recording the data of the license plate recognition system entering and leaving the side, it is calculated whether there are any auxiliary vehicles in the control area.

[0042] Step S6, when the auxiliary vehicle passes, the mining truck enters the transport road control area, the entry direction control access control bar is closed, prohibiting the auxiliary vehicle from entering the transport road control area, and the exit direction control access control bar is opened, allowing the auxiliary vehicle to leave the transport road control area. When there is no auxiliary vehicle in the transport road control area, the exit direction control access control bar is also closed.

[0043] In this step, when auxiliary vehicles pass, mining trucks may enter the control area. The access control pole for the entry direction is closed after the yellow light flashes. If there are auxiliary vehicles in the control area, the access control pole for the exit direction is not closed. There is a safety distance protection in the direction of entry to the control area, and there is enough time to ensure that the auxiliary vehicles leave. A safety area is reserved on the side of the control area for the exit direction control pole. When the access control pole for the exit direction is abnormally closed, the auxiliary vehicles can stay in the safety area before leaving.

[0044] In summary, the method of the present application realizes the safe passage of mine truck transport road intersections, improves the efficiency of unmanned driving of mine trucks, realizes unmanned operation at mine truck transport road intersections, avoids interference from human factors, realizes unmanned on-site operations, and provides a basis for improving the inherent safety of mines.

[0045] The present invention provides a detailed description of a method for assisting unmanned mining trucks in navigating roads. The above description of the embodiment is intended only to help understand the method and core concept of the present invention. Furthermore, those skilled in the art will appreciate that variations in the specific implementation and scope of application will occur based on the concept of the present invention. Therefore, the contents of this specification should not be construed as limiting the present invention.

[0046] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different nouns to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. For example, "including" and "comprising" mentioned throughout the specification and claims are open-ended terms, so they should be interpreted as "including / including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problems within a certain error range and basically achieve the technical effects. The subsequent description in the specification is a preferred embodiment of the present application, but the description is for the purpose of illustrating the general principles of the present application, and is not used to limit the scope of the present application. The scope of protection of the present application shall be as defined in the attached claims.

[0047] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or system. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the product or system comprising the element.

[0048] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0049] The above description shows and describes several preferred embodiments of the present application. However, as previously mentioned, it should be understood that the present application is not limited to the form disclosed herein and should not be construed as excluding other embodiments. Instead, the present application can be used in various other combinations, modifications, and environments and can be modified within the scope of the application concept described herein through the above teachings or technology or knowledge in the relevant field. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present application should be protected by the claims appended hereto.

Claims

1. A method for assisting vehicles to pass through unmanned mining truck transport roads, characterized in that: The method specifically comprises the following steps: Acquire mining truck operation data and transport road control area scene video; mining truck operation data is acquired in real time, and transport road control area scene video acquires target information of mining trucks, auxiliary vehicles, and personnel within the control area; Based on the acquired mining truck operation data, determine whether the mining truck has entered the transport road control area. Use the pre-trained data to compare the targets in the scene video to confirm whether the mining truck has entered the transport road control area. When a mining truck enters the transport road control area, only mining trucks are allowed to pass through the transport road control area. The control access pole is normally open during the day shift. When a mining truck enters the transport road control area, the control access pole is closed. The night shift control access pole is normally closed. When a mining truck is not in the transport road control area and an auxiliary vehicle runs to the control access pole, the control access pole is opened. Based on the mining truck operation data, determine whether the mining truck has left the intersection control area. Use the pre-trained data to compare the targets in the scene video to confirm whether the mining truck has left the transportation road control area. When the mining truck is not in the transport road control area, auxiliary vehicles can pass through. When the auxiliary vehicle enters the control access pole, the auxiliary vehicle entering is recorded. When it exits from the other side, it must be detected in real time to detect whether there are any auxiliary vehicles in the transport road control area; When auxiliary vehicles pass, the mining truck enters the transport road control area, the entry direction control access bar is closed, and the auxiliary vehicle is prohibited from entering the transport road control area. The exit direction control access bar is opened, allowing the auxiliary vehicle to leave the transport road control area. When there are no auxiliary vehicles in the transport road control area, the exit direction control access bar is also closed.

2. The method according to claim 1, wherein: The operation data of mining trucks can be obtained in real time. The acquisition method can be the push of mining truck unmanned driving data or the collection of mining truck unmanned driving operation data by the industrial data platform. The positioning information of mining trucks that will pass through the control area is filtered out from the obtained mining truck operation data, and the scene video of the transportation road control area obtains target information such as mining trucks, auxiliary vehicles, and personnel within the control area.

3. The method according to claim 1, wherein: The control area is the heavy-load direction control area and the unloaded direction control area set according to the on-site conditions. The heavy-load direction control area is the safe distance area between the heavy-load direction and the intersection and the intersection area. The unloaded direction control area is the safe distance area between the unloaded direction and the intersection and the intersection area. The control area is stored in the form of coordinate data. The mining truck operation data includes the coordinates and running speed of the mining truck. The coordinates of the mining truck are compared with the coordinates of the control area. If the coordinates of the mining truck are within the control area, the running speed is close to zero and the coordinates do not change within a certain period of time, the mining truck is considered to be in a waiting state. If the mining truck maintains a certain running speed and the coordinates are constantly changing, it is considered that the mining truck has entered the transport road control area. Obtain the target information of the mining truck in the scene video and compare it with the designated control area to confirm again whether the mining truck has entered the transportation road control area; Obtain whether there is any auxiliary vehicle and personnel target information in the scene video. If the mining truck enters the transportation road control area and auxiliary vehicle and personnel information is detected in the scene video, it is considered an abnormal intrusion.

4. The method according to claim 1, wherein: When a mining truck enters the transport road control area, the highest priority is the mining card. Only mining cards are allowed to pass in the transport road control area, and auxiliary vehicles and personnel should give way. When there are obstacles such as auxiliary vehicles and personnel in the control area, the mining truck detects the obstacles in front through the on-board radar. At the same time, the mining truck's empty load system takes measures such as deceleration or stopping according to the distance to the obstacle and the running speed of the mining truck to ensure operation safety. When the obstacle is cleared, the mining truck resumes normal operation.

5. The method according to claim 1, wherein: The mining truck operation data includes the coordinates and running speed of the mining truck. The coordinates of the mining truck are compared with the coordinates of the control area. If the mining truck coordinates leave the intersection control area, the mining truck maintains a certain running speed and the coordinates are constantly changing, it is considered that the mining truck has left the transportation road control area. Obtain the target information of the mining truck in the scene video, and by comparing it with the designated control area, confirm again whether the mining truck has left the transportation road control area. The control ends after the mining truck leaves the control area.

6. The method according to claim 1, wherein: In this step, when an auxiliary vehicle passes, the license plate recognition system on the side of the control access pole enters the record of the auxiliary vehicle entering the control area, and the license plate recognition system on the side of the control access pole leaves the record of the auxiliary vehicle leaving the control area. By recording the data of the license plate recognition system entering and leaving the side, it is calculated whether there are any auxiliary vehicles in the control area.

7. The method according to claim 1, wherein: When auxiliary vehicles pass through, if the mining truck enters the control area, the entry direction control access pole will be closed after the yellow light flashes. If there are auxiliary vehicles in the control area, the exit direction control access pole will not be closed. There is a safety distance protection in the entry direction of the control area, and there is enough time to ensure that the auxiliary vehicle leaves. A safety area is reserved on the side of the control area for the exit direction control access pole. When the exit direction control access pole is abnormally closed, the auxiliary vehicle can stay in the safety area before leaving.

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