Process control system for self-dumping car unloading of mineral materials based on attitude adjustment

Abstract

The application discloses a mineral material self-turning vehicle unloading operation process control system based on posture adjustment, relates to the technical field of unloading operation process control, and aims to solve the technical problem that in the prior art, a vehicle cannot be quickly identified as being accurately positioned, leading to unloading errors or repeated operations due to position deviation. Specifically, through multi-unit cooperative control, from vehicle approach position identification, safety verification to posture detection and early warning, a complete unloading operation closed-loop management is formed, the accuracy, safety and efficiency of the mineral material self-turning vehicle unloading operation are significantly improved, material loss and environmental risks are reduced, process optimization is realized through intelligent posture adjustment, and on the whole, the system improves the automation level and economy of the mineral material unloading operation, and is suitable for large-scale and high-intensity mineral material transportation scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unloading operation process control, in particular to a mineral material self-dumping truck unloading operation process control system based on posture adjustment. BACKGROUND

[0002] The mining industry not only creates huge social wealth, but also faces great challenges, such as energy, resources, and environmental pressures. Traditional industries such as mining need to quickly solve a series of problems such as extensive production methods, low production efficiency and energy utilization rate, and low utilization level of mineral resources, and accelerate the pace of transformation and upgrading.

[0003] Smart mine is a vertical application of the industrial internet system in the mining field. In recent years, with the rapid development of information technology, cloud computing, big data, artificial intelligence, Internet of Things, virtual reality, three-dimensional visualization and intelligent mining, etc. Theoretical methods and advanced technologies have begun to be gradually applied in the mining industry, providing theoretical support and technical support for the transition from digital mine to intelligent mine.

[0004] Patent No. 2023112583861 discloses a self-unloading truck detection system, which relates to the technical field of mining self-unloading trucks. The sensing detection unit collects data when the self-unloading truck is running, transmits the generated data to the host computer, and then the host computer transmits the data to the monitoring data processing terminal to detect the self-unloading truck and implement data calculation and analysis to solve the problems of on-site detection synchronicity and safety of the self-unloading truck.

[0005] However, in the prior art, it is still difficult to quickly identify whether the vehicle is accurately in place, leading to unloading errors or repeated operations due to position deviation, and it is also difficult to avoid low efficiency or equipment wear caused by too fast or too slow material pouring through dynamic adjustment, which seriously affects the control accuracy of the unloading process. Therefore, a solution is proposed. SUMMARY

[0006] The purpose of the present application is to solve the above technical problems, and a mineral material self-dumping truck unloading operation process control system based on posture adjustment is proposed.

[0007] The purpose of the present application can be achieved by the following technical solution: a mineral material self-dumping truck unloading operation process control system based on posture adjustment, comprising a work process control platform communicatively connected with an approach position recognition unit, a safety verification unit and a posture detection and early warning unit;

[0008] When the mineral material self-dumping truck is unloading, the approach position recognition unit monitors the moving track of the mineral material self-dumping truck and recognizes the real-time moving position to determine whether the mineral material self-dumping truck is an allowed work vehicle;

[0009] After determining the allowed work vehicle, the safety checking unit receives a safety checking signal, and then performs safety checking on the allowed work vehicle, and determines the safety of the work environment of the vehicle to perform the unloading operation;

[0010] After determining the unloading operation execution, the posture detection and early warning unit detects the posture of the mine material self-dumping vehicle during the unloading operation.

[0011] Further, the process of the approach position recognition unit is as follows:

[0012] The moving trajectory of the mine material self-dumping vehicle is collected by the displacement sensor, and the approach position of the mine material self-dumping vehicle is recognized by the moving process analysis. The deviation distance of the collected moving trajectory of the mine material self-dumping vehicle from the preset trajectory is collected, and the deviation area is obtained according to the position corresponding to the deviation distance. The real-time scattering position of the scattered mine material generated by the movement of the mine material self-dumping vehicle in the deviation area is recognized, the amount of scattered mine material in the mine material control area and the amount of scattered mine material not in the mine material control area in the deviation area are collected, and the mine material control coefficient ratio is calculated by the ratio.

[0013] After the mine material self-dumping vehicle reaches the end point of the real-time moving trajectory, the non-overlapping area of the preset unloading area and the set unloading area of the mine material transported by the mine material self-dumping vehicle is obtained, and is marked as the unloading control influence coefficient.

[0014] Further, the mine material control coefficient ratio and the unloading control influence coefficient are respectively compared with the threshold value:

[0015] If the mine material control coefficient ratio exceeds the coefficient ratio threshold value, and the unloading control influence coefficient does not exceed the influence coefficient threshold value, it is concluded that the approach position recognition of the mine material self-dumping vehicle is passed, an identification passing signal is generated and sent to the work process control platform; if the mine material control coefficient ratio does not exceed the coefficient ratio threshold value, or the unloading control influence coefficient exceeds the influence coefficient threshold value, it is concluded that the approach position recognition of the mine material self-dumping vehicle is not passed, an identification failure signal is generated and sent to the work process control platform.

[0016] Further, after the work process control platform receives the identification passing signal, the current mine material self-dumping vehicle is marked as an allowed work vehicle; after the work process control platform receives the identification failure signal, the current mine material self-dumping vehicle is marked as a non-allowed work vehicle, and the current mine material self-dumping vehicle is moved in position, and the scattered mine material corresponding to the moving trajectory is picked up, and if the moving trajectory is moved during the movement, the movement is stopped and the moving trajectory is adjusted.

[0017] Further, the process of the safety checking unit is as follows:

[0018] When the action pre-execution of the work vehicle is allowed, a short running time mark is set as a pre-execution period, the unloading work is performed in the pre-execution period, the environmental parameter range of the work area in the pre-execution period and the environmental parameter range of the use scene of any accessory of the vehicle are obtained, and the non-intersection parameter is determined according to the parameter comparison. If the non-intersection parameter is not in the environmental parameter range of the use scene of any accessory, it is inferred that the current execution environment cannot meet the unloading work, an environmental parameter influence signal is generated and sent to the work process control platform, after the work process control platform receives the signal, the environmental parameter of the work area is controlled, and when the control fails, the running time of the accessory is reduced, and the unloading work execution time is delayed. If the non-intersection parameter is in the environmental parameter range of the use scene of any accessory, it is inferred that the current execution environment meets the unloading work.

[0019] Further, after determining that the environmental safety verification is completed, the real-time displacement deviation of the displacement accessory and the output parameter deviation of the output accessory of the vehicle in the pre-execution period are obtained, the unit influence is excluded, the deviation values are counted to obtain the deviation sum, if the deviation sum is lower than the set deviation threshold, it is inferred that the vehicle state is qualified, a hardware safety signal is generated and sent to the work process control platform, after the work process control platform receives the signal, the current self-dumping car for mining materials performs the unloading work, if the deviation sum is not lower than the set deviation threshold, it is inferred that the vehicle state is unqualified, a hardware risk signal is generated and sent to the work process control platform, after the work process control platform receives the signal, the current self-dumping car for mining materials is maintained.

[0020] Further, the process of the attitude detection and early warning unit is as follows:

[0021] The attitude parameters of the self-dumping car for mining materials are obtained, that is, the attitude parameters are represented as the lifting angle and the lifting speed;

[0022] The unloading speed floating span of the current attitude parameters is obtained, if the unloading speed floating span exceeds the set speed floating span threshold, it is inferred that the attitude parameter setting is abnormal, an attitude adjustment signal is generated and sent to the work process control platform, after the work process control platform receives the signal, the self-dumping car for mining materials is adjusted according to the unloading speed adjustment trend; if the unloading speed floating span does not exceed the set speed floating span threshold, it is inferred that the attitude parameter setting is abnormal, an attitude fitting signal is generated and sent to the work process control platform.

[0023] Further, the lifting speed change amount in the attitude parameter is recorded at the same time, the deviation of the corresponding unloading speed and the preset speed is recorded at the same time, if the lifting speed change amount is floating and the deviation of the unloading speed and the preset speed is not in a decreasing trend, it is inferred that the attitude adjustment is inefficient, an attitude adjustment modification signal is generated and sent to the work process control platform, after the work process control platform receives the signal, the attitude adjustment is modified to control the deviation of the unloading speed and the preset speed.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] 1. Improve the accuracy and efficiency of unloading operations:

[0026] By using the entry position recognition unit to monitor and analyze the movement trajectory of the ore dump truck in real time, the system can quickly identify whether the vehicle is in the correct position, reducing unloading errors or repetitive operations caused by position deviations. At the same time, by calculating the ore control coefficient ratio and the unloading control influence coefficient, the system automatically determines whether the vehicle is allowed to operate, avoiding the delay of manual judgment and improving operation efficiency.

[0027] Enhance operational safety and reliability:

[0028] The safety verification unit detects environmental parameters (such as dust content and humidity) and vehicle component status (such as deviations in displacement and output components) by pre-executing the unloading action, ensuring environmental safety and normal hardware operation. This effectively prevents safety accidents caused by unsuitable environment or equipment failure, and improves the reliability of operations and personnel safety.

[0029] 2. Optimize unloading process control and attitude adjustment:

[0030] The attitude detection and early warning unit monitors unloading attitude parameters (such as lifting angle and lifting speed) in real time and automatically adjusts the attitude according to the floating span of unloading speed to ensure that the unloading speed is stable within the preset range. This dynamic adjustment avoids inefficiency or equipment wear caused by material pouring too fast or too slow, and improves the control accuracy of the unloading process.

[0031] Reduce material loss and environmental pollution:

[0032] The system identifies the location and amount of scattered ore and triggers a timely picking mechanism to reduce the loss of ore during movement. At the same time, by analyzing the impact coefficient of unloading control, it ensures that the unloading area matches the preset area, reducing the risk of material waste and environmental pollution.

[0033] 3. Achieve intelligent adaptive control:

[0034] The system has self-learning capabilities. When the attitude adjustment is inefficient, it can automatically send adjustment signals to make changes by recording the change in lifting speed and the deviation in unloading speed, thereby achieving intelligent optimization of the unloading process. This adaptive control reduces manual intervention and improves the system's intelligence level and long-term operational stability.

[0035] Improve overall operational economy:

[0036] Through automatic control and real-time monitoring, the system reduces labor cost and time cost, avoids production delay caused by operation interruption or equipment maintenance, reduces material loss and equipment loss, reduces operation cost, and improves economic benefit. BRIEF DESCRIPTION OF DRAWINGS

[0037] For the convenience of those skilled in the art to understand, the present application will be further described below in conjunction with the drawings.

[0038] Fig. 1 The system principle block diagram of the present application is shown in the figure.

[0039] Fig. 2 The method flow block diagram of the present application is shown in the figure. DETAILED DESCRIPTION

[0040] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0041] In this paper, "embodiment" means that the specific features, structures or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily refer to the same embodiment, nor is it independent or alternative to other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0042] Please refer to Figs. 1-2 As shown, the mineral material self-tipping car unloading operation process control system based on posture adjustment comprises an operation process control platform, and the operation process control platform is in communication connection with a plurality of mineral material self-tipping cars, so as to control the unloading operation of the mineral material self-tipping cars;

[0043] The operation process control platform is in communication connection with an approach position recognition unit, a safety verification unit and a posture detection and early warning unit, and the approach position recognition unit, the safety verification unit and the posture detection and early warning unit successively collect and analyze data to complete the unloading operation of the mineral material self-tipping cars, and the operation process control efficiency is improved through posture adjustment;

[0044] When the mineral material self-tipping cars perform unloading operation, the operation process control platform generates an approach position recognition signal and sends it to the approach position recognition unit;

[0045] The approach position recognition unit receives the approach position recognition signal, monitors the moving track of the self-dumping car and recognizes the real-time moving position, so as to improve the unloading accuracy;

[0046] The displacement sensor collects the moving track of the self-dumping car, and the approach position of the self-dumping car is recognized through the moving process analysis; the deviation distance of the moving track of the self-dumping car from the preset track is collected, and the deviation area is obtained according to the position of the corresponding deviation distance; the real-time scattering position of the scattered mineral material generated by the moving of the self-dumping car in the deviation area is recognized, the amount of the scattered mineral material in the mineral material control area and the amount of the scattered mineral material not in the mineral material control area in the deviation area are collected, and the mineral material control coefficient ratio is calculated through the ratio;

[0047] After the self-dumping car reaches the end point of the real-time moving track, the non-overlapping area of the preset unloading area and the set unloading area of the self-dumping car for transporting mineral material is obtained, and is marked as the unloading control influence coefficient;

[0048] The mineral material control coefficient ratio and the unloading control influence coefficient are respectively compared with the threshold value:

[0049] If the mineral material control coefficient ratio exceeds the coefficient ratio threshold value, and the unloading control influence coefficient does not exceed the influence coefficient threshold value, it is concluded that the approach position recognition of the self-dumping car is passed, an identification passing signal is generated and sent to the operation process control platform, after the operation process control platform receives it, the current self-dumping car is marked as an allowed operation vehicle;

[0050] If the mineral material control coefficient ratio does not exceed the coefficient ratio threshold value, or the unloading control influence coefficient exceeds the influence coefficient threshold value, it is concluded that the approach position recognition of the self-dumping car is not passed, an identification not passing signal is generated and sent to the operation process control platform, after the operation process control platform receives it, the current self-dumping car is marked as a non-allowed operation vehicle, and the current self-dumping car is moved in position, and the scattered mineral material corresponding to the moving track is picked up, if in the moving process, the moving is stopped and the moving track is adjusted;

[0051] After determining the allowed operation vehicle, a safety verification signal is generated and sent to the safety verification unit;

[0052] After the safety verification unit receives the safety verification signal, the safety of the allowed operation vehicle is verified, and the unloading operation is executed after determining the safety of the operation environment of the vehicle, so as to ensure the unloading execution efficiency and the execution safety performance;

[0053] The action pre-execution of the work vehicle is allowed, that is, a short running time mark is set as a pre-execution period, the unloading work is performed in the pre-execution period, the environmental parameter range of the work area in the pre-execution period and the environmental parameter range of the use scene of any accessory of the vehicle are obtained, and the non-intersection parameter is determined according to the parameter comparison. If the non-intersection parameter is not in the environmental parameter range of the use scene of any accessory, it is inferred that the current execution environment cannot meet the unloading work, such as dust content, humidity and other environmental parameters affecting the operation of the vehicle accessory. An environmental parameter influence signal is generated and sent to the work process control platform. After receiving, the work control platform controls the environmental parameters of the work area, and when it cannot be controlled, it reduces the running time of the accessory and delays the execution time of the unloading work.

[0054] If the non-intersection parameter is in the environmental parameter range of the use scene of any accessory, it is inferred that the current execution environment meets the unloading work.

[0055] After determining that the environmental safety verification is completed, the real-time displacement deviation of the displacement accessory in the vehicle accessory and the output parameter deviation of the output accessory in the pre-execution period are obtained, the unit influence is excluded, and the deviation value is counted to obtain the deviation sum. The displacement accessory represents accessories such as hydraulic rods that need to be moved, and the output accessory represents output parameter accessories such as motors.

[0056] If the deviation sum is lower than the set deviation threshold, it is inferred that the vehicle state is qualified, a hardware safety signal is generated and sent to the work process control platform, and after receiving, the work process control platform performs unloading work on the current mine material self-dumper.

[0057] If the deviation sum is not lower than the set deviation threshold, it is inferred that the vehicle state is unqualified, a hardware risk signal is generated and sent to the work process control platform, and after receiving, the work process control platform performs hardware maintenance on the current mine material self-dumper.

[0058] After determining the execution of the unloading work, a posture detection early warning signal is generated and sent to the posture detection early warning unit. After receiving the posture detection early warning signal, the posture detection early warning unit detects the posture of the mine material self-dumper during unloading work.

[0059] The posture parameters of the mine material self-dumper are obtained, that is, the posture parameters represent the lifting angle and lifting speed.

[0060] The current attitude parameter is obtained under the unloading speed floating span of the mineral material, if the unloading speed floating span exceeds the set speed floating span threshold, it is inferred that the attitude parameter setting is abnormal, the attitude adjustment signal is generated and sent to the operation process control platform, after the operation process control platform receives, the attitude of the mineral material self-dumper is adjusted according to the unloading speed adjustment trend; At the same time, the lifting speed change amount in the attitude parameter is recorded, and the deviation of the unloading speed and the preset speed is recorded, if the lifting speed change amount is floating, and the deviation of the unloading speed and the preset speed is not in the decreasing trend, it is inferred that the attitude adjustment is inefficient, the attitude adjustment change signal is generated and sent to the operation process control platform, after the operation process control platform receives, the attitude adjustment change is carried out to control the deviation of the unloading speed and the preset speed.

[0061] If the unloading speed floating span does not exceed the set speed floating span threshold, it is inferred that the attitude parameter setting is abnormal, the attitude fitting signal is generated and sent to the operation process control platform.

[0062] The threshold or the preset value, the preset range and the like are set for result comparison and analysis, so as to determine whether it is good or not, and the size of the value is set according to the large model analysis of sample data and artificial experience, and is recorded and stored, and can be adjusted appropriately through seasonal or reasonable influence conditions.

[0063] And the weight proportion coefficient, the influence factor and the like are set according to the influence of each parameter on the result, to allocate specific values to finally reflect the influence on the result, which is also set by recording and storing through the large model analysis of sample data and artificial experience, and can be adjusted appropriately through seasonal or reasonable influence conditions.

[0064] The preferred embodiments of the above disclosed application are only used to help explain the application. The preferred embodiments do not describe all the details, and do not limit the application to the specific embodiments. Obviously, according to the content of the specification, many modifications and changes can be made. The embodiments are selected and described in the specification in order to better explain the principles and practical application of the application, so that those skilled in the art can well understand and utilize the application. The application is limited by the claims and their entire scope and equivalents.

Claims

1. A control system for regulating the process of self-dumping car unloading of mineral material based on the attitude, characterized by, The job process control platform is communicatively connected with an approach position identification unit, a safety verification unit, and a posture detection and early warning unit. When the mine material self-dumping car is performing unloading operation, the approach position identification unit monitors the moving track of the mine material self-dumping car and identifies the real-time moving position to determine whether the mine material self-dumping car is an allowed operation vehicle. After determining the allowed operation vehicle, the safety verification unit performs safety verification on the allowed operation vehicle to determine the safety of the operation environment of the vehicle, and then performs unloading operation. After determining the unloading operation execution, the posture detection and early warning unit detects the posture of the unloading operation of the mine material self-dumping car. The process of the safety verification unit is as follows: The allowed operation vehicle is pre-executed, that is, a short running time is set as a pre-execution period, the unloading operation is performed in the pre-execution period, the operation area environment parameter range and the vehicle accessory usage scene environment parameter range in the pre-execution period are obtained, and the non-intersection parameter is determined according to the parameter comparison. If the non-intersection parameter is not in the accessory usage scene environment parameter range, it is inferred that the current execution environment cannot meet the unloading operation, an environment parameter influence signal is generated and sent to the job process control platform, and after receiving, the job process control platform controls the environment parameters of the operation area, and when it cannot be controlled, the accessory running time is reduced, and the unloading operation execution time is delayed. If the non-intersection parameter is in the accessory usage scene environment parameter range, it is inferred that the current execution environment meets the unloading operation. After determining the end of the environment safety verification, the real-time displacement deviation of the displacement accessory and the output parameter deviation of the output accessory of the vehicle accessory in the pre-execution period are obtained, the unit influence is excluded, and the deviation sum is obtained by counting the deviation values. If the deviation sum is lower than the set deviation threshold, it is inferred that the vehicle state is qualified, a hardware safety signal is generated and sent to the job process control platform, and after receiving, the job process control platform performs unloading operation on the current mine material self-dumping car. If the deviation sum is not lower than the set deviation threshold, it is inferred that the vehicle state is unqualified, a hardware risk signal is generated and sent to the job process control platform, and after receiving, the job process control platform performs hardware maintenance on the current mine material self-dumping car.

2. The system for controlling the process of self-dumping of mineral material based on the adjustment of the attitude according to claim 1, characterized in that, The process of the approach position identification unit is as follows: The displacement sensor collects the moving track of the mine material self-dumping car, and the approach position of the mine material self-dumping car is identified through the moving process analysis. The deviation distance of the moving track of the mine material self-dumping car and the preset track is collected, and the deviation area is obtained according to the position of the corresponding deviation distance. The real-time scattering position of the scattered mine material generated by the movement of the mine material self-dumping car in the deviation area is identified, the amount of scattered mine material in the mine material control area and the amount of scattered mine material not in the mine material control area in the deviation area are collected, and the mine material control coefficient ratio is obtained through ratio calculation. After the mine material self-dumping car arrives at the real-time moving track endpoint, the non-overlapping area of the mine material self-dumping car transporting mine material preset unloading area and the set unloading area is obtained, and is marked as the unloading control influence coefficient.

3. The system for controlling the process of self-dumping of mineral material based on the adjustment of the attitude according to claim 2, characterized by the fact that The mine material control coefficient ratio and the unloading control influence coefficient are compared with the threshold value respectively: If the mine material prevention and control coefficient ratio exceeds the coefficient ratio threshold value, and the unloading prevention and control influence coefficient does not exceed the influence coefficient threshold value, it is inferred that the mine material self-dumper approach position recognition passes, a recognition pass signal is generated and sent to the operation process control platform; if the mine material prevention and control coefficient ratio does not exceed the coefficient ratio threshold value, or the unloading prevention and control influence coefficient exceeds the influence coefficient threshold value, it is inferred that the mine material self-dumper approach position recognition does not pass, a recognition fail signal is generated and sent to the operation process control platform.

4. The system for controlling the process of self-dumping of mineral material based on the adjustment of the attitude according to claim 3, characterized by the fact that After the operation process control platform receives the recognition pass signal, the current mine material self-dumper is marked as an allowed operation vehicle; After the operation process control platform receives the recognition fail signal, the current mine material self-dumper is marked as a non-allowed operation vehicle, and the current mine material self-dumper is moved, and the scattered mine material corresponding to the moving track is picked up, if the moving track is moved during the moving process, the moving is stopped and the moving track is adjusted.

5. The system for process control of a self-dumping car unloading operation based on a postural adjustment according to claim 1, characterized in that, The process of the attitude detection and early warning unit is as follows: Obtain the attitude parameters of the mine material self-dumper, i.e. the attitude parameters are represented as the lifting angle and the lifting speed; Obtain the mine material unloading speed floating span under the current attitude parameters, if the unloading speed floating span exceeds the set speed floating span threshold value, it is inferred that the attitude parameter setting is abnormal, an attitude adjustment signal is generated and sent to the operation process control platform, after the operation process control platform receives it, the mine material self-dumper is adjusted according to the unloading speed adjustment trend; if the unloading speed floating span does not exceed the set speed floating span threshold value, it is inferred that the attitude parameter setting is abnormal, an attitude fitting signal is generated and sent to the operation process control platform.

6. The system for controlling the process of self-dumping of mineral material based on the adjustment of the attitude according to claim 5, characterized by the fact that The lifting speed change amount in the attitude parameters is recorded at the same time, and the deviation of the unloading speed from the preset speed is recorded at the same time, if the lifting speed change amount floats and the deviation of the unloading speed from the preset speed does not show a decreasing trend, it is inferred that the attitude adjustment is inefficient, an attitude adjustment modification signal is generated and sent to the operation process control platform, after the operation process control platform receives it, the attitude adjustment is modified to control the deviation of the unloading speed from the preset speed.

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