Strip mine loading system and loading method

Abstract

The invention discloses a strip mine loading system and method, the system comprises a mining vehicle weighing module, a data processing module, a vehicle-mounted terminal module, a communication module, a positioning module, a management module and an AI identification module, and the vehicle-mounted terminal module comprises a hinge card vehicle-mounted terminal unit and an excavator vehicle-mounted terminal unit; the mining vehicle weighing module is mounted on the hinge card and is used for measuring the loading weight of the hinge card; the data processing module is used for outputting dynamic load data; the vehicle-mounted terminal module is used for gathering, sending and displaying information; the communication module is used for transmitting information; the positioning module is used for determining position information of the hinge clamp and the excavator; the management module is used for transmitting the dynamic load data to the hinge card vehicle-mounted terminal unit and the like, and the AI identification module is used for identifying the volume of ore loaded by the hinge card and judging whether automatic calibration is needed or not. Accurate loading of the excavator can be achieved, and long-term accuracy of load data, fault self-positioning and alarming can be guaranteed without manual intervention.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering vehicles, and more particularly to an open-pit mine loading system and a loading method. BACKGROUND

[0002] The on-board weighing system is mainly used for real-time monitoring and management of the load of the vehicle, and the main purpose is to prevent overloading of the vehicle, affecting the personal safety of personnel and the operation safety of equipment; accurately reflecting the loading capacity of the equipment, improving the operation efficiency of the equipment, and reducing the operation cost.

[0003] At present, the mine mainly uses imported vehicle models such as Volvo articulated trucks (referred to as articulated trucks) as the main production and transportation equipment, and the rated loading capacity is 41 tons, but the actual average loading capacity is about 35 tons, which is quite different from the rated loading capacity. The excavator driver mainly uses the shape of the loaded vehicle as the loading standard, and the visual standards of people are different, which often causes overloading or underloading of the loaded vehicle, has a high misjudgment rate, and is low in efficiency. Relying on manual visual judgment of the loading capacity cannot achieve precise loading. Therefore, how to improve the data judgment ability of the articulated truck, ensure the loading capacity to meet the standard through accurate weighing technology, display the weighing information in a data form, unify the loading standard, guide the excavator driver to load accurately, prevent underloading and overloading, realize fine management of loading, and balance the needs of production management and equipment management are problems that need to be solved.

[0004] Chinese patent document (application number: 202122308188.2, application date: November 5, 2021) discloses a vehicle-to-vehicle data interaction method, device and working machine. The vehicle-to-vehicle data interaction method comprises: a data transmitter located at a first vehicle receives an identity of a data receiver located on a second vehicle, the identity is generated and sent by a radio frequency identifier located at the first vehicle after reading a radio frequency tag located on the second vehicle; the data transmitter establishes a wireless communication connection between the data receiver according to the identity. After the data transmitter establishes a wireless communication connection between the data receiver according to the identity, it further comprises: the data transmitter sends video data to the data receiver for the second central control screen to play the video data; the video data is collected by a camera located at the first vehicle; the second central control screen is arranged in the cab of the second vehicle, and the second central control screen is in communication connection with the data receiver. The data transmitter sends the received weighing information to the data receiver; the weighing information is collected by a weight sensor located at the first vehicle. When the weight sensor in the above scheme still has the problem of calibration. SUMMARY

[0005] Therefore, the application provides an open-pit mine loading system and a loading method, which can realize accurate loading of excavators and ensure long-term accurate load data, fault self-positioning and alarm without manual intervention.

[0006] In a first aspect of the application, an open-pit mine loading system is provided, comprising a mine vehicle weighing module, a data processing module, a vehicle-mounted terminal module, a communication module, a positioning module, a management module and an AI recognition module, wherein the vehicle-mounted terminal module comprises a dumper vehicle-mounted terminal unit and an excavator vehicle-mounted terminal unit;

[0007] The mine vehicle weighing module is installed on the dumper and is used to measure the loading weight of the dumper and output a voltage signal to the data processing module for processing, wherein the mine vehicle weighing module comprises two weighing sensors, which are respectively installed on the left middle axle shock absorber and the right rear axle shock absorber of the dumper, and are diagonally installed to measure the loading weight of the dumper.

[0008] The data processing module is installed in the cab of the dumper, is coupled with the mine vehicle weighing module, receives the voltage signal transmitted by the mine vehicle weighing module, processes the voltage signal to obtain dynamic load data, and transmits the dynamic load data to the dumper vehicle-mounted terminal unit and the management module through the communication module. The data processing module has the functions of digital-to-analog conversion, temperature and humidity compensation, signal processing, self-calibration and calculation. The data processing module compares the actual load of the dumper measured by the balance with the dynamic load data and automatically adjusts the calibration coefficient.

[0009] The vehicle-mounted terminal module is used for information aggregation, transmission and display, and the information includes load data, positioning information, equipment information of the dumper and / or the excavator, fault alarm information, loading completion information and system self-calibration information. The dumper vehicle-mounted terminal unit is installed in the cab of the dumper, is coupled with the data processing module, and is used to receive and display the dynamic load data output by the data processing module and the approved load data output by the management module. The excavator vehicle-mounted terminal unit is installed in the cab of the excavator, is coupled with the communication module, and is used to receive and display the dynamic load data and the approved load data transmitted by the management module through the communication module. The dumper vehicle-mounted terminal unit and the excavator vehicle-mounted terminal unit are respectively connected with the positioning module, and are used to transmit the positioning information of the dumper and the excavator to the management module through the communication module.

[0010] The communication module is connected with the vehicle terminal module and the management module, and is used for transmitting the information between the vehicle terminal module and the management module.

[0011] The positioning module is coupled with the vehicle terminal module, and is used for transmitting position information to the management module through the vehicle terminal module and the communication module.

[0012] The management module is coupled with the communication module, and is used for transmitting the dynamic load data and the approved load data to the excavator vehicle terminal unit, and transmitting the approved load data to the articulated truck vehicle terminal unit. The management module includes a server and an upper computer, and is configured in a dispatching control center. The management module is coupled with the AI identification module, is used for converting the ore volume identified by the AI identification module into ore mass, and compares the ore mass with the load data. When the error is greater than ±5%, the management module broadcasts a calibration alarm.

[0013] The AI identification module is coupled with the management module, is arranged on a road that must be passed after the articulated truck is loaded, is used for identifying the ore volume loaded by the articulated truck, and transmits the identified ore volume information to the management module to measure the error with the approved load data, and judges whether the mine vehicle weighing module needs to be calibrated.

[0014] Optionally, the voltage signal output by the mine vehicle weighing module is a 0V-10V voltage signal.

[0015] Optionally, the vehicle terminal module integrates an Ethernet, a switching value, an RS232, an RS485, a CAN, and a positioning data communication interface.

[0016] Optionally, the positioning module adopts GPRS positioning and Beidou positioning, has a centimeter-level precision, and has a positioning frequency greater than 20HZ.

[0017] Optionally, the communication module includes a 4G private network, a 4G private network industrial wireless router, a wired control intranet, and a communication cable, and a switch.

[0018] Optionally, the AI identification module includes a camera, a communication module, and a server, wherein an AI identification algorithm is deployed in the server.

[0019] The second aspect of the present application provides a loading method for an open-pit mine, which adopts the loading system for the open-pit mine, and the loading method comprises the following steps:

[0020] The management module sets the equipment information of the excavator and the articulated truck, and forms a corresponding relationship with the IP address of the articulated truck terminal unit and the IP address of the excavator terminal unit, respectively, to confirm the uniqueness of each excavator and each articulated truck in the management module;

[0021] The positioning module confirms the position information of the excavator and the articulated truck, and transmits the position information to the management module through the terminal module and the communication module, so that the management module confirms the corresponding position information and equipment information of the excavator and the articulated truck, and displays the information on an electronic map;

[0022] The loading operation range of the excavator is confirmed, and a circular region with the excavator as the center and 10 meters as the radius is taken as the loading operation range of the excavator;

[0023] When the articulated truck enters the loading operation range of the excavator, the equipment information of the articulated truck and the excavator is transmitted to the management module through the positioning module and the communication module, the management module establishes a connection between the articulated truck and the excavator located in the same loading operation range, and the management module sends the equipment information of the excavator to the articulated truck terminal unit and displays the information, and sends the equipment information of the articulated truck to the excavator terminal unit and displays the information;

[0024] When the articulated truck enters the loading operation range of the corresponding excavator and starts the loading operation, the articulated truck is loaded by the excavator in a stationary state, the mine vehicle weighing module forms the voltage signal through pressure deformation, and transmits the voltage signal to the data processing module for data processing to obtain the load weight, multiplies the load weight by a calibration coefficient to obtain dynamic load data, and transmits the dynamic load data to the articulated truck terminal unit, the dynamic load data is transmitted to the excavator terminal unit through the communication module and the management module, and is used for checking by a driver;

[0025] When the dynamic load data reaches a load requirement value, the excavator terminal unit sends a loading completion signal, wherein the dynamic load requirement value is greater than or equal to a loading plan value and less than or equal to a rated load value;

[0026] The loading completion signal is transmitted to the articulated truck terminal unit through the communication module and the management module. After receiving the loading completion signal, the articulated truck drives out of the loading range of the corresponding excavator. Meanwhile, the management module determines the approved load data according to the basic statistical principle based on the dynamic load data read by the sensor driving out of the loading range of the excavator, and stores the data into the database. Meanwhile, the approved load data is sent to the excavator terminal unit and the articulated truck terminal unit. The display interface of the truck terminal module displays the approved load data, dynamic load data and equipment information.

[0027] When the articulated truck passes through the road provided with the AI recognition module, the AI recognition module recognizes the ore volume loaded by the articulated truck. According to the conversion formula of ore volume and ore quality, the ore volume is converted into the ore quality, wherein the conversion formula of ore volume and ore quality is: ore weight = ore volume x specific gravity. The ore quality is compared with the approved load data. When the error is greater than ±5%, the management module broadcasts a calibration alarm.

[0028] The method further includes self-calibration of the mine vehicle weighing module, including the following steps: the articulated truck is weighed by the balance scale to confirm the actual load data of the articulated truck, and the actual load data is input into the articulated truck terminal unit. Meanwhile, the data processing module receives the voltage signal transmitted by the mine vehicle weighing sensor module, and transmits the dynamic load data obtained after processing the voltage signal to the articulated truck terminal unit. The dynamic load data obtained after processing is compared with the actual load data to automatically adjust the calibration coefficient.

[0029] The method further includes system fault diagnosis confirmation. The management module detects the weighing sensor, the positioning module and the communication module, compares the detection results with the fault library built in the management module, discovers faults, issues a fault alarm, confirms the fault type, and proposes a fault solution.

[0030] Optionally, when the dynamic load data reaches the load requirement value, the excavator terminal unit sends a loading completion signal, including the following steps:

[0031] When the dynamic load data is less than the loading plan value, the management module prohibits the excavator terminal unit from sending the loading completion signal to the articulated truck terminal unit.

[0032] When the dynamic load data is greater than or equal to the loading plan value and less than or equal to the rated loading value, the management module allows the excavator terminal unit to send the loading completion signal to the articulated truck terminal unit.

[0033] When the dynamic load data is greater than the rated load value, the management module sends overload alarm information to the excavator on-board terminal unit and the articulated truck on-board terminal unit, alarms overload, and the excavator reduces the load weight of the articulated truck until the dynamic load data is less than or equal to the rated load value, and the overload alarm is eliminated.

[0034] Optionally, the mine vehicle weighing module self-calibration comprises zero point calibration and range calibration, wherein the zero point calibration is performed when the articulated truck is empty, and the range calibration is performed when the articulated truck is heavily loaded.

[0035] Compared with the prior art, the open-pit mine loading system and the loading method provided by the application at least achieve the following beneficial effects:

[0036] First, effectively improve the precise loading operation level of the excavator driver, realize precise control of the loading amount, safety guarantee of the articulated truck operation and optimization of the operation cost;

[0037] Second, the loading system has self-calibration function of sensors and self-diagnosis function of system faults, so that the sensors can be automatically calibrated without manual intervention, and the load data is ensured to be accurate for a long time; when the system fails, fault positioning can be quickly completed, and self-diagnosis and warning can be performed;

[0038] Third, realize digital display of the loading system, directly display the loading data, and transmit the loading data to the centralized control center through the 4G private network to realize loading data acquisition, storage, statistics and analysis of the loading amount data;

[0039] Fourth, open the data transmission channel between the articulated truck and the excavator, realize real-time sharing of the loading data between the articulated truck and the excavator, and the excavator driver can accurately obtain information such as dynamic load data and loaded weight of the articulated truck, realize on-demand loading, ensure uniform loading of the articulated truck, avoid low transportation efficiency caused by underloading, and avoid damage to the articulated truck caused by overload;

[0040] Fifth, without damaging the overall structure of the articulated truck and affecting the safety performance of the articulated truck, a weighing sensor is additionally arranged at the opposite corner of the shock-absorbing block of the articulated truck, and a weighing system display terminal is installed in the cab for displaying the weighing information, which is simple and convenient to install, and has practicability and convenience for modification and maintenance.

[0041] Of course, any product implementing the application does not necessarily need to achieve all the technical effects described above.

[0042] Other features of the application and its advantages will become apparent from the following detailed description of exemplary embodiments thereof, with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0044] Figure 1 is a communication topology diagram of a precise loading system of an open-pit mine according to the present application;

[0045] Figure 2 is a structural schematic diagram of a precise loading system of an open-pit mine according to the present application;

[0046] Figure 3 is a flow schematic diagram of a loading method of an open-pit mine according to the present application.

[0047] Wherein, 1, vehicle-mounted terminal module; 2, positioning module; 3, data processing module; 4, weighing sensor; 5, 4G private network industrial wireless router; 6, 4G private network base station; 7, industrial switch; 8, server; 9, upper computer; 10, camera; 11, mine vehicle weighing module; 12, communication module; 13, management module; 14, AI recognition module. DETAILED DESCRIPTION

[0048] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present application unless otherwise specifically stated.

[0049] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the scope of the application its application or uses.

[0050] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and devices can be considered part of the specification.

[0051] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0052] Note that like reference numerals and letters indicate like items in the accompanying drawings, and once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0053] The open-pit mine loading system and the loading method can effectively obtain load data, and the excavator and the articulated truck share load data through point-to-point wireless communication. Through the combination of multiple communication modes, the rapid and effective transmission of data is realized. Through the self-calibration and fault self-diagnosis of the sensor of the weighing system, the long-term accuracy of the load data can be ensured without manual intervention, the fault can be self-positioned, and the alarm can be realized. The loading system and the loading method realize the accurate loading of the excavator, provide an important basis for the supervision of daily loading capacity, and have a positive effect and influence on the safe, efficient and economic operation of the articulated truck and the accuracy of the supply and distribution of mine plans.

[0054] Embodiment one

[0055] Reference Figure 1 、 Figure 2 , Figure 1 is a communication topology diagram of the open-pit mine accurate loading system, Figure 2 is a structural schematic diagram of the open-pit mine accurate loading system.

[0056] As Figure 1 、 Figure 2 shown, the embodiment provides an open-pit mine loading system, which comprises a mine vehicle weighing module, a data processing module 3, a vehicle-mounted terminal module 1, a communication module, a positioning module 2, a management module and an AI recognition module. The vehicle-mounted terminal module 1 comprises an articulated truck vehicle-mounted terminal unit and an excavator vehicle-mounted terminal unit.

[0057] The mine vehicle weighing module 11 is installed on the articulated truck and is used for measuring the loading weight of the articulated truck. The output voltage signal is transmitted to the data processing module 3 for processing. The mine vehicle weighing module 11 comprises two weighing sensors 4, which are respectively installed on the left middle axle shock absorber and the right rear axle shock absorber of the articulated truck. The weighing sensors 4 are diagonally installed and are used for measuring the loading weight of the articulated truck.

[0058] The data processing module 3 is installed in the cab of the articulated truck and is coupled with the mine vehicle weighing module 11. The data processing module 3 receives the voltage signal transmitted by the mine vehicle weighing module 11, processes the voltage signal to obtain dynamic load data, and transmits the dynamic load data to the articulated truck vehicle-mounted terminal unit and the management module 13 through the communication module 12. The data processing module 3 has functions such as digital-to-analog conversion, temperature and humidity compensation, signal processing, self-calibration and calculation. The data processing module 3 compares the actual load of the articulated truck measured by the balance with the dynamic load data and automatically adjusts the calibration coefficient.

[0059] The vehicle-mounted terminal module 1 is used for information aggregation, transmission and display, and the information includes the load data, positioning information, device information of the articulated truck and / or excavator, fault alarm information, loading completion information, system self-calibration information; wherein, the articulated truck vehicle-mounted terminal unit is installed in the cab of the articulated truck, and is coupled with the data processing module, used for receiving and displaying the dynamic load data output by the data processing module and the rated load data output by the management module; the excavator vehicle-mounted terminal unit is installed in the cab of the excavator, and is coupled with the communication module 12, used for receiving and displaying the dynamic load data and the rated load data transmitted by the management module 13 through the communication module 12; the articulated truck vehicle-mounted terminal unit and the excavator vehicle-mounted terminal unit are connected with the positioning module 2 respectively, used for transmitting the positioning information of the articulated truck and the excavator to the management module 13 through the communication module 12;

[0060] The communication module 12 is connected with the vehicle-mounted terminal module 1 and the management module 13, used for transmitting the information between the vehicle-mounted terminal module 1 and the management module 13;

[0061] The positioning module 2 is coupled with the vehicle-mounted terminal module 1, used for transmitting the position information to the management module 13 through the vehicle-mounted terminal module 1 and the communication module 12; the positioning module 2 is installed on the articulated truck and the excavator, used for determining the position information of the articulated truck and the excavator;

[0062] The management module 13 is coupled with the communication module 12, used for transmitting the dynamic load data and the rated load data to the excavator vehicle-mounted terminal unit, and transmitting the rated load data to the articulated truck vehicle-mounted terminal unit; the management module 13 includes a server 8 and an upper computer 9, and is configured in a dispatching control center; a fault library is arranged in the management module 13, and the management module 13 is used for detecting the weighing sensor 4, the positioning module 2 and the communication module 12, and comparing with the fault library to realize fault self-diagnosis alarm; the management module 13 is coupled with the AI recognition module 14, used for converting the ore volume recognized by the AI recognition module 14 into ore mass, and comparing the ore mass with the load data, and when the error is greater than ±5%, the management module 13 broadcasts a calibration alarm;

[0063] The AI identification module 14 is coupled with the management module 13, the AI identification module 14 is arranged on a road that must be passed after the loading of the articulated truck, is used for identifying the ore volume loaded by the articulated truck, and transmits the identified ore volume information to the management module 13, and error calculation is carried out with the approved load data, and it is judged whether the mine vehicle weighing module 11 needs to be calibrated.

[0064] It should be noted that in the present application, the data processing module 3 is installed in the cab of the articulated truck, and processes the voltage signal of the mine vehicle weighing sensor. The module has digital-to-analog conversion, temperature and humidity compensation, signal processing, self-calibration and calculation functions. The converted weight information is transmitted to the management module and the vehicle terminal through the communication module, specifically the excavator vehicle terminal unit.

[0065] It should be noted that in the present application, the management module 13 includes a server 8 and an upper computer 9, which can be configured in a dispatching control center. The management module 13 has device information configuration function, terminal communication setting function, device range setting function, device positioning information sharing function, device final load data determination strategy, database, load data query function, electronic map function, fault self-diagnosis alarm, load system (i.e. mine vehicle weighing module) calibration alarm and self-calibration function, AI identification vehicle loading volume identification system.

[0066] In some optional embodiments provided by the present application, the voltage signal output by the mine vehicle weighing module 11 is a 0V-10V voltage signal.

[0067] In some optional embodiments provided by the present application, the vehicle terminal module 1 integrates Ethernet, switching value, RS232, RS485, CAN, positioning data communication interface. In the present application, Ethernet can support high-speed large data transmission, CAN is suitable for vehicle bus core control, RS232 / RS485 can be connected to traditional sensors, and the positioning data communication interface realizes accurate space-time data acquisition, and one-stop satisfies the vehicle-mounted multi-device, multi-protocol communication demand; At the same time, it is compatible with traditional vehicle bus and new generation Ethernet technology, and adapts to sensors of different manufacturers.

[0068] In some optional embodiments provided by the present application, the positioning module 2 adopts GPRS positioning and Beidou positioning, the positioning module 2 has centimeter-level precision, and the positioning frequency is greater than 20HZ. Beidou positioning focuses on high-precision positioning, adapts to the complex scene of the mining area, GPRS supplements the positioning of the weak satellite signal area, and the double mode cooperates to eliminate the positioning blind area, and realizes the accurate positioning of the whole scene.

[0069] In some optional embodiments provided by the present application, the communication module 12 includes a 4G private network, a 4G private network industrial wireless router 5, a wired control intranet and a communication cable, and a switch. Figure 1As shown, specifically includes, 4G private network base station 6, 4G private network industrial wireless router 5, industrial switch 7, etc.

[0070] In some optional embodiments provided by the present application, the AI identification module 14 includes a camera 10, a communication module, a server, wherein an AI identification algorithm is deployed in the server. In the present application, the AI identification algorithm deployed in the server is not limited, as long as it can realize the identification of images and the volume of the vehicle-mounted ore in the images.

[0071] Embodiment two

[0072] As shown, Figure 3 Figure 3 is a flowchart of a method for loading a truck in an open-pit mine. The present embodiment provides a method for loading a truck in an open-pit mine, which uses the open-pit mine loading system obtained in embodiment 1, and includes the following steps:

[0073] S100, device information confirmation: the management module 13 sets the device information of the excavator and the articulated truck, and forms a corresponding relationship with the IP address of the articulated truck terminal unit and the IP address of the excavator terminal unit, respectively, and confirms the uniqueness of each excavator and each articulated truck in the management module 13;

[0074] S200, confirmation of position information: the position information of the excavator and the articulated truck is confirmed by the positioning module 2, and the position information is transmitted to the management module through the vehicle terminal module 1 and the communication module 12, and the corresponding position information and device information of the excavator and the articulated truck are confirmed by the management module 13, and displayed on the electronic map;

[0075] S300, confirmation of excavator loading range: the loading range of the excavator is confirmed, and a circular area with the excavator as the center and 10 meters as the radius is taken as the loading range of the excavator;

[0076] S400, device number identification confirmation: the articulated truck enters the loading range of the excavator, and the device information of the articulated truck and the excavator is transmitted to the management module 13 through the positioning module 2 and the communication module 12, the management module 13 establishes a connection between the articulated truck and the excavator located in the same loading range, and the management module 13 sends the device information of the excavator to the articulated truck terminal unit and displays it, and sends the device information of the articulated truck to the excavator terminal unit and displays it;

[0077] ​S500, load data confirmation: when the articulated truck enters the corresponding loading range of the excavator, the loading operation starts, the articulated truck is loaded by the excavator in a static state, the mine vehicle weighing module 11 is deformed by pressure to form a voltage signal transmitted to the data processing module 3 for data processing to obtain the load weight, the dynamic load data is obtained by multiplying the load weight by the calibration coefficient, and the dynamic load data is transmitted to the articulated truck terminal unit, the dynamic load data is transmitted to the excavator terminal unit through the communication module 12 and the management module 13 for the driver to view;

[0078] When the dynamic load data reaches the load requirement value, the excavator terminal unit sends a loading completion signal, wherein the dynamic load requirement value is greater than or equal to the loading plan value and less than or equal to the rated load value;

[0079] The loading completion signal is transmitted to the articulated truck terminal unit through the communication module 12 and the management module 13, and the articulated truck drives out of the corresponding loading range of the excavator after receiving the loading completion signal. At the same time, the management module 13 determines the approved load data according to the basic statistical principle according to the dynamic load data read by the sensor when the articulated truck drives out of the loading range of the excavator, and stores it in the database. At the same time, the approved load data is sent to the excavator terminal unit and the articulated truck terminal unit. The display interface of the vehicle terminal module 1 displays the approved load data, the dynamic load data and the equipment information.

[0080] S600, mine vehicle weighing module calibration alarm confirmation: when the articulated truck passes through the road provided with the AI recognition module 14, the AI recognition module 14 recognizes the ore volume loaded by the articulated truck, and converts the ore volume into the ore quality according to the conversion formula of ore volume and ore quality, wherein the conversion formula of ore volume and ore quality is: ore weight = ore volume x specific gravity; compare the ore quality with the approved load data, and broadcast a calibration alarm when the error is greater than ± 5%;

[0081] The method further comprises mine vehicle weighing module self-calibration, comprising the following steps: the articulated truck measures the weight to the balance scale, confirms the actual load data of the articulated truck, and inputs the actual load data into the articulated truck terminal unit. At the same time, the data processing module 3 receives the voltage signal transmitted by the mine vehicle weighing module 11, and transmits the dynamic load data obtained after processing the voltage signal to the articulated truck terminal unit. Compare the dynamic load data obtained after processing with the actual load data, and automatically adjust the calibration coefficient;

[0082] The method further comprises system fault diagnosis confirmation, the management module 13 detects the weighing sensor 4, the positioning module 2 and the communication module 12, compares the detection result with the fault library built in the management module 13, finds fault, gives fault alarm, confirms fault type and proposes fault solving measures.

[0083] It should be noted that the finally confirmed rated load data is used for data storage, and the acquisition is carried out when the articulated vehicle is just started to drive out of the excavator loading range interval, and the management module determines the rated load data according to the dynamic load data read by the sensor corresponding to the articulated vehicle according to the basic statistical principle.

[0084] It should be noted that in the method of the present application, the self-calibration of the mine vehicle weighing module is carried out on the articulated vehicle after the management module broadcasts a calibration alarm, and if the management module does not broadcast a calibration alarm, the load data measured by the mine vehicle weighing module in the current state is within the acceptable error standard, and the self-calibration of the mine vehicle weighing module is not required. The self-calibration of the mine vehicle weighing module loads different weights on the vehicle to ensure calibration of the entire range, and in the calibration process, the material loaded on the articulated vehicle can be replaced by cement blocks.

[0085] It should be noted that in the method of the present application, the system fault diagnosis confirmation is a full-process monitoring of loading, and when a fault alarm occurs, fault handling work needs to be carried out, and if no fault alarm occurs, the loading step is normally executed to complete accurate loading.

[0086] In some optional embodiments provided by the present application, when the dynamic load data reaches the load requirement value, the excavator vehicle terminal unit sends a loading completion signal, comprising the following steps:

[0087] When the dynamic load data is less than the loading plan value, the management module 13 prohibits the excavator vehicle terminal unit from sending the loading completion signal to the articulated vehicle terminal unit;

[0088] When the dynamic load data is greater than or equal to the loading plan value and less than or equal to the rated load value, the management module 13 allows the excavator vehicle terminal unit to send the loading completion signal to the articulated vehicle terminal unit;

[0089] When the dynamic load data is greater than the rated load value, the management module 13 sends an overload alarm information to the excavator vehicle terminal unit and the articulated vehicle terminal unit, and alarms overload, and the excavator reduces the load weight of the articulated vehicle to the load data less than or equal to the rated load value, and the overload alarm is eliminated.

[0090] In some optional embodiments provided by the present application, the self-calibration of the mine vehicle weighing module 11 includes zero point calibration and range calibration, wherein the zero point calibration is performed when the articulated truck is empty, and the range calibration is performed when the articulated truck is overloaded and the balance is balanced.

[0091] As can be seen from the above embodiments, the open-pit mine loading system and the loading method provided by the present application at least achieve the following beneficial effects:

[0092] 1. The precision loading operation level of the excavator driver is effectively improved, and the precision control of the loading capacity, the safety guarantee of the articulated truck operation and the optimization of the operation cost are realized.

[0093] 2. The loading system has self-calibration function and system fault self-diagnosis function, and the sensor can be automatically calibrated without manual intervention, so as to ensure the long-term precision of the load data; when the system fails, the fault can be quickly located, and self-diagnosis and warning can be performed;

[0094] 3. The loading system realizes digital display, and the loading data is displayed intuitively; at the same time, the loading data is transmitted to the centralized control center through the 4G private network, so as to realize loading data acquisition, storage, statistics and analysis of the loading capacity data.

[0095] 4. The data transmission channel between the articulated truck and the excavator is opened, the loading data between the articulated truck and the excavator is shared in real time, the excavator driver can accurately obtain the dynamic load data of the articulated truck, the loaded weight and other information, the loading is realized according to the need, the articulated truck is uniformly loaded, the low transportation efficiency caused by underloading is avoided, and the damage of the articulated truck caused by overloading is avoided.

[0096] 5. The weighing sensor is additionally arranged at the opposite corner of the damping block of the articulated truck without damaging the overall structure of the articulated truck and affecting the safety performance of the articulated truck; the weighing system display terminal is installed in the cab for displaying the weighing information, and the installation is simple and convenient, and the practicability, modification and maintenance convenience are considered.

[0097] Although some specific embodiments of the present application have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, but not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. An open-pit mine loading system, characterized in that, It includes a weighing module for mining vehicles, a data processing module, an on-board terminal module, a communication module, a positioning module, a management module, and an AI recognition module. The on-board terminal module includes a winch truck on-board terminal unit and an excavator on-board terminal unit. The mining vehicle weighing module is installed on the hinge and is used to measure the load weight of the hinge. The output voltage signal is transmitted to the data processing module for processing. The mining vehicle weighing module includes two weighing sensors, which are respectively installed on the left middle axle damping block and the right rear axle damping block of the hinge. The weighing sensors are installed diagonally to measure the load weight of the hinge. The data processing module is installed in the cab of the articulated truck and coupled to the mining vehicle weighing module. It receives the voltage signal transmitted by the mining vehicle weighing module, processes the voltage signal to obtain dynamic load data, and transmits the dynamic load data to the articulated truck's on-board terminal unit. Simultaneously, it transmits the data to the management module via the communication module. The data processing module has functions of analog-to-digital conversion, temperature and humidity compensation, signal processing, self-calibration, and calculation. The data processing module compares the actual load of the articulated truck measured by the balance scale with the dynamic load data and automatically adjusts the calibration coefficient. The vehicle-mounted terminal module is used for information aggregation, transmission, and display. The information includes load data, positioning information, equipment information of the excavator and / or the winch, fault alarm information, loading completion information, and system self-calibration information. The winch-mounted terminal unit is installed in the cab of the winch and is coupled to the data processing module. It receives and displays the dynamic load data output by the data processing module and the verified load data output by the management module. The excavator-mounted terminal unit is installed in the cab of the excavator and is coupled to the communication module. It receives and displays the dynamic load data and the verified load data transmitted by the management module through the communication module. The winch-mounted terminal unit and the excavator-mounted terminal unit are respectively connected to the positioning module to transmit the positioning information of the winch and the excavator to the management module through the communication module. The communication module is connected to the vehicle terminal module and the management module, and is used to transmit the information between the vehicle terminal module and the management module; The positioning module is coupled to the vehicle-mounted terminal module and is used to transmit location information to the management module through the vehicle-mounted terminal module and the communication module; the positioning module is installed on the hinge and the excavator and is used to determine the location information of the hinge and the excavator; The management module is coupled to the communication module and is used to transmit the dynamic load data and the verified load data to the excavator vehicle-mounted terminal unit, and to transmit the verified load data to the articulated truck-mounted terminal unit. The management module includes a server and a host computer, and is configured in the dispatch control center. The management module has a fault database and is used to detect the weighing sensor, the positioning module, and the communication module, and compare them with the fault database to achieve fault self-diagnosis and alarm. The management module is coupled to the AI ​​recognition module and is used to convert the ore volume identified by the AI ​​recognition module into ore mass, and compare the ore mass with the load data. When the error is greater than ±5%, the management module broadcasts a calibration alarm. The AI ​​recognition module is coupled to the management module. The AI ​​recognition module is set on the road that the articulated truck must pass through after loading. It is used to identify the volume of ore loaded by the articulated truck and transmit the identified ore volume information to the management module. The error is calculated with the approved load data to determine whether the weighing module of the mining vehicle needs to be calibrated.

2. The open-pit mine loading system according to claim 1, characterized in that, The voltage signal output by the weighing module of the mining vehicle is a 0V-10V voltage signal.

3. The open-pit mine loading system according to claim 1, characterized in that, The vehicle-mounted terminal module integrates Ethernet, digital input / output, RS232, RS485, CAN, and positioning data communication interfaces.

4. The open-pit mine loading system according to claim 1, characterized in that, The positioning module uses GPRS and BeiDou positioning, and has centimeter-level accuracy and a positioning frequency greater than 20Hz.

5. The open-pit mine loading system according to claim 1, characterized in that, The communication module includes a 4G private network, a 4G private network industrial wireless router, a wired control intranet and communication cables, and a switch.

6. The open-pit mine loading system according to claim 1, characterized in that, The AI ​​recognition module includes a camera, a communication module, and a server, wherein the AI ​​recognition algorithm is deployed in the server.

7. A method for loading open-pit mine ore, characterized in that, The open-pit mine loading system according to any one of claims 1 to 6, wherein the open-pit mine loading method comprises: The management module sets the equipment information of the excavator and the articulator, and establishes a correspondence between them and the IP addresses of the articulator's on-board terminal unit and the excavator's on-board terminal unit, respectively, to confirm the uniqueness of each excavator and each articulator in the management module; The positioning module confirms the location information of the excavator and the winch, and transmits the location information to the management module through the vehicle terminal module and the communication module. The management module confirms the corresponding location information and equipment information of the excavator and the winch, and displays it on the electronic map. Determine the loading operation range of the excavator. The circular area with the excavator as the center and a radius of 10 meters is defined as the loading operation range of the excavator. When the winch enters the loading operation range of the excavator, the equipment information of the winch and the excavator is transmitted to the management module through the positioning module and the communication module. The management module establishes a connection between the winch and the excavator located in the same loading operation range. The management module sends the equipment information of the excavator to the winch on-board terminal unit and displays it through the communication module, and sends the equipment information of the winch to the excavator on-board terminal unit and displays it. When the winch enters the loading operation range of the corresponding excavator, the loading operation begins. The winch is loaded by the excavator while stationary. The mining vehicle weighing module generates a voltage signal through pressure deformation, which is transmitted to the data processing module for data processing to obtain the load weight. The load weight is multiplied by the calibration coefficient to obtain dynamic load data, which is then transmitted to the winch truck on-board terminal unit. The dynamic load data is transmitted to the excavator on-board terminal unit through the communication module and the management module for the driver to view. When the dynamic load data reaches the load requirement value, the excavator vehicle terminal unit sends a loading completion signal, wherein the dynamic load requirement value is greater than or equal to the loading plan value and less than or equal to the rated load value. The loading completion signal is transmitted to the articulated truck on-board terminal unit through the communication module and the management module. After receiving the loading completion signal, the articulated truck moves out of the loading operation range of the corresponding excavator. At the same time, the management module determines the verified load data based on the dynamic load data read by the sensors of the truck that has moved out of the excavator's loading operation range according to basic statistical principles and stores it in the database. Simultaneously, the verified load data is sent to the excavator on-board terminal unit and the articulated truck on-board terminal unit. The display interface of the on-board terminal module displays the verified weighing data, dynamic weighing data, and equipment information. When the hinged truck passes through a road equipped with an AI recognition module, the AI ​​recognition module identifies the volume of ore loaded on the hinged truck. According to the conversion formula between ore volume and ore mass, the ore volume is converted into ore mass. The conversion formula is: ore weight = ore volume × specific gravity. The ore mass is compared with the approved load data. When the error is greater than ±5%, the management module broadcasts a calibration alarm. The method also includes self-calibration of the mining vehicle weighing module, comprising the following steps: measuring the weight of the hinged clamp to the balance scale, confirming the actual load data of the hinged clamp, and inputting the actual load data into the hinged clamp on-board terminal unit; simultaneously, the data processing module receives the voltage signal transmitted by the mining vehicle weighing sensor module, and transmits the dynamic load data obtained after processing the voltage signal to the hinged clamp on-board terminal unit; comparing the processed dynamic load data with the actual load data, and automatically adjusting the calibration coefficient. The method also includes system fault diagnosis and confirmation. The management module detects the weighing sensor, the positioning module, and the communication module, compares the detection results with the fault database built into the management module, issues a fault alarm if a fault is found, confirms the fault type, and proposes fault resolution measures.

8. The method for loading open-pit mine vehicles according to claim 7, characterized in that, When the dynamic load data reaches the required load value, the excavator vehicle-mounted terminal unit sends a loading completion signal, including the following steps: When the dynamic load data is less than the loading plan value, the management module prohibits the excavator vehicle terminal unit from sending the loading completion signal to the articulated truck terminal unit. When the dynamic load data is greater than or equal to the loading plan value and less than or equal to the rated load value, the management module allows the excavator vehicle terminal unit to send the loading completion signal to the articulated truck terminal unit. When the dynamic load data exceeds the rated load value, the management module sends an overload alarm to the excavator vehicle terminal unit and the articulated truck terminal unit, alarming for overload. The excavator reduces the load on the articulated truck until the dynamic load data is less than or equal to the rated load value, at which point the overload alarm is cleared.

9. The method for loading open-pit mine vehicles according to claim 7, characterized in that, The self-calibration of the weighing module for mining vehicles includes zero-point calibration and range calibration. Zero-point calibration is performed when the hinge is unloaded, while range calibration is performed when the hinge is heavily loaded by a balance scale.

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