A coal mine haulage system

Abstract

This invention discloses a coal mine transportation system, in which an intelligent monitoring system sends operational information to a ground control system and various transportation operation systems; the ground control system sends locomotive data to each transportation operation system and sends work control information to each transportation operation system; in multiple transportation operation systems, an unmanned locomotive driving system controls the locomotive's driving status based on the acquired information; an intelligent coal feeding system automatically transports coal and mineral materials from the material silo to the storage room based on the acquired information; an intelligent loading system controls the automatic loading of coal and mineral materials from the storage room to the locomotive based on the acquired information; an intelligent spraying system automatically sprays and pressurizes the coal and mineral materials in each car based on the acquired information; and an intelligent antifreeze system automatically sprays antifreeze into each car based on the acquired information. This system can improve the accuracy and efficiency of coal loading operations, reduce resource waste, and is conducive to achieving the goals of improving quality and efficiency and increasing economic benefits.

Description

Technical Field

[0001] This invention relates to the field of coal mine transportation, and more particularly to a coal mine transportation system. Background Technology

[0002] Railway loading is a typical production scenario for coal enterprises, and its main production processes and characteristics include:

[0003] 1) Manual loading: Most sites are equipped with loading stations and loading operating systems, which have initially realized the functions of material information management and manual loading control; however, in actual production operations, the loading operator needs to constantly adjust and operate according to the locomotive speed, car model, quantitative bin information, chute status, etc., which is labor-intensive and has many human risk factors. Situations such as coal spillage (coal spills outside the car) and uneven loading (large deviation of load between the front and rear of the car) occur from time to time, and the overall operating efficiency and safety need to be improved.

[0004] 2) Adhesive Spraying and Compaction: To prevent coal spillage after loading, an adhesive spraying and compaction system is usually installed on site. This operation relies heavily on the coordination between the operator and the locomotive driver, who must constantly monitor the locomotive speed and car position to manually control the compaction device and spraying system. This process is highly dependent on the operator's experience, posing certain safety hazards, and its efficiency needs improvement.

[0005] 3) Shunting operations: In terms of transportation equipment, diesel locomotives and open wagons are mainly used, which are generally old, with high fuel consumption and poor emissions; in terms of personnel, they mainly include drivers, shunting operators, ground dispatchers, etc.; typical shunting operation conditions include coupling, pulling out, dispatching, and decoupling, etc. The work process requires relevant personnel to cooperate closely through radio walkie-talkies, telephones, etc., and data integration has not yet been achieved. Summary of the Invention

[0006] This invention provides a coal mine transportation system to improve the safety and efficiency of railway loading operations, enhance the enterprise's digital management system, and help achieve goals such as reducing staff, saving energy and reducing emissions, and improving quality and efficiency.

[0007] According to one aspect of the present invention, a coal mine transportation system is provided, comprising: a ground control system, an intelligent monitoring system, and multiple transportation operation systems;

[0008] The multiple transportation operation systems include: unmanned locomotive driving system, intelligent coal feeding system, intelligent loading system, intelligent injection system, and intelligent antifreeze system;

[0009] The ground control system is used to acquire locomotive data, real-time operation information, and abnormal feature information, and to send the locomotive data to each of the transportation operation systems. It also sends work control information to each of the transportation operation systems based on the locomotive data, real-time operation information, and abnormal feature information to control the working status of each transportation operation system. The work control information includes: driving control information, monitoring control information, coal feeding control information, loading control information, injection control information, and antifreeze control information.

[0010] The intelligent monitoring system is used to collect data on the work site to obtain real-time work information, extract abnormal feature information based on the real-time work information, and send the abnormal feature information and the real-time work information to the ground control system and each of the transportation operation systems.

[0011] The unmanned locomotive system is used to acquire the real-time operation information, the locomotive data, the abnormal feature information, and the driving state control information, and to control the locomotive's driving state based on the real-time operation information, the locomotive data, the abnormal feature information, and the driving state control information;

[0012] The intelligent coal feeding system is used to acquire the real-time operation information, the locomotive data, the abnormal feature information, and the coal feeding control information, and automatically transport the coal and mineral materials from the material silo to the storage room according to the real-time operation information, the locomotive data, the abnormal feature information, and the coal feeding control information;

[0013] The intelligent loading system is used to acquire the real-time operation information, the locomotive data, the abnormal feature information, and the loading control information, and to control the coal and mineral materials to be automatically loaded from the storage room to the locomotive based on the real-time operation information, the locomotive data, the abnormal feature information, and the loading control information;

[0014] The intelligent injection system is used to acquire the real-time operation information, the locomotive data, the abnormal feature information, and the injection control information, and to automatically inject the coal and mineral materials in each of the cars according to the real-time operation information, the locomotive data, the abnormal feature information, and the injection control information.

[0015] The intelligent antifreeze system is used to acquire the real-time operation information, the locomotive data, the abnormal feature information, and the antifreeze control information, and automatically spray antifreeze onto each of the carriages according to the real-time operation information, the locomotive data, the abnormal feature information, and the antifreeze control information.

[0016] Optionally, the ground control system is deployed in a ground computer room and includes a ground control server, an interface module, and a power module;

[0017] The ground control server communicates with the intelligent monitoring system and each of the transportation operation systems through the interface module; the ground control server is used to acquire the locomotive data, the real-time operation information and the abnormal feature information, and send the locomotive data to each of the transportation operation systems, and send work control information to each of the transportation operation systems according to the locomotive data, the real-time operation information and the abnormal feature information.

[0018] The power module is used to provide uninterrupted power to the ground control server and interface module.

[0019] Optionally, the intelligent monitoring system includes an intelligent monitoring server and a lidar, an image acquisition module, and a radio frequency identification module installed at the work site.

[0020] Optionally, the unmanned vehicle system includes a driving decision server, an onboard intelligent driving system, and a wireless communication system;

[0021] The driving decision server is deployed in a ground-based computer room, and the vehicle-mounted intelligent driving system is deployed in the vehicle; the driving decision server and the vehicle-mounted intelligent driving system communicate wirelessly through the wireless communication system.

[0022] The driving decision server is used to acquire the real-time operation information, the locomotive data, the abnormal feature information, and the driving state control information, and to send driving control information to the vehicle intelligent driving system based on the real-time operation information, the locomotive data, the abnormal feature information, and the driving state control information;

[0023] The in-vehicle intelligent driving system is used to control the locomotive's movement based at least on the driving control information.

[0024] Optionally, the in-vehicle intelligent driving system includes: an intelligent driving host and at least two in-vehicle sensing systems;

[0025] The intelligent driving host is used to acquire the driving control information and control the locomotive to drive according to the driving control information;

[0026] At least two of the vehicle-mounted sensing systems are respectively deployed at the front and rear of the locomotive; and the vehicle-mounted sensing system includes a sensing sensor kit and a sensing controller;

[0027] In the same vehicle-mounted perception system, the perception sensor set is used to acquire road condition information on the locomotive's travel route and send the road condition information to the perception controller;

[0028] The perception controller is used to send obstacle alarm information to the intelligent driving host when it is determined that there is an obstacle on the locomotive's driving route based on the road condition information;

[0029] The intelligent driving host is also used to control the vehicle to stop when it receives the obstacle alarm information.

[0030] Optionally, the intelligent coal feeding system includes: an intelligent coal feeding controller, a coal feeder, and a conveying system;

[0031] The intelligent coal feeder controller is used to acquire the real-time operation information, the locomotive data, the abnormal feature information, and the coal feeding control information, and controls the operation of the coal feeder and the conveying system according to the real-time operation information, the locomotive data, the abnormal feature information, and the coal feeding control information, so as to automatically transport the coal material from the material silo to the storage room.

[0032] Optionally, the intelligent loading system includes: an intelligent loading controller, a buffer bin gate controller, a quantitative bin gate controller, and a chute controller;

[0033] The intelligent loading controller is deployed in the machine room of the loading station; the intelligent loading controller is used to acquire the real-time operation information, the locomotive data, the abnormal feature information and the loading control information, as well as the storage information of the buffer bin and the quantitative bin, and output control information to the buffer bin gate controller, the quantitative bin gate controller and the chute controller respectively according to the real-time operation information, the locomotive data, the abnormal feature information, the loading control information and the storage information;

[0034] The buffer chamber gate controller is used to control the action of the buffer chamber gate according to the control information;

[0035] The quantitative bin gate controller is used to control the action of the quantitative bin gate according to the control information;

[0036] The chute controller is used to control the chute movement according to the control information.

[0037] Optionally, the intelligent loading system further includes: a human-machine operating system;

[0038] The human-machine operating system mainly includes a display terminal, an operation panel, and a voice interaction system.

[0039] Optionally, the intelligent spraying system includes: an intelligent spraying controller, a compaction device, a glue spraying device, and a cleaning robot;

[0040] The intelligent injection controller is used to acquire the real-time operation information, the locomotive data, the abnormal feature information, and the injection control information, and to control the compaction device, the adhesive spraying device, and the cleaning robot to work according to the real-time operation information, the locomotive data, the abnormal feature information, and the injection control information.

[0041] Optionally, the intelligent antifreeze system includes: an intelligent antifreeze controller, a track balance system, and an automatic antifreeze spraying system;

[0042] The track scale system is used to weigh each car of the locomotive and send the weight information of each car to the intelligent anti-freeze controller.

[0043] The intelligent antifreeze controller is used to automatically spray antifreeze onto each of the cars based on the weight information, the real-time operation information, the frozen coal information in the car provided by the intelligent monitoring system, the locomotive data, the abnormal feature information, and the antifreeze control information.

[0044] The coal mine transportation system provided in this invention, through real-time data interaction between the ground control system, intelligent monitoring system, and various transportation operation systems, not only improves the accuracy and efficiency of coal loading operations but also effectively reduces operational delays and resource waste caused by coal freezing. This provides a strong guarantee for the smooth operation of railway transportation and offers a green, intelligent, and efficient comprehensive solution for coal enterprises and other industrial and mining enterprises. It helps achieve goals such as energy conservation and emission reduction, staff reduction, and efficiency improvement, contributing to a green, intelligent, safe, and comfortable production and operation environment, and ultimately enhancing quality and efficiency while increasing economic benefits. Furthermore, this solution can also be widely applied to other material transportation categories within the rail transit field.

[0045] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a system control diagram of a coal mine transportation system provided in an embodiment of the present invention;

[0048] Figure 2This is a system control diagram of an intelligent monitoring system provided in an embodiment of the present invention;

[0049] Figure 3 This is a work site layout diagram of an intelligent monitoring system provided in an embodiment of the present invention;

[0050] Figure 4 This is a flowchart of a carriage type identification method provided in an embodiment of the present invention;

[0051] Figure 5 This is a system control diagram of another coal mine transportation system provided in an embodiment of the present invention;

[0052] Figure 6 This is a system control diagram of an unmanned locomotive driving system provided in an embodiment of the present invention;

[0053] Figure 7 This is a system control diagram of another unmanned locomotive driving system provided in an embodiment of the present invention;

[0054] Figure 8 This is a system control diagram of an intelligent coal feeding system provided in an embodiment of the present invention;

[0055] Figure 9 This is a field layout diagram of an intelligent coal feeding system provided in an embodiment of the present invention;

[0056] Figure 10 This is a flowchart of a coal feeding control method provided in an embodiment of the present invention;

[0057] Figure 11 This is a system control diagram of an intelligent loading system provided in an embodiment of the present invention;

[0058] Figure 12 This is a work site layout diagram of an intelligent loading system provided in an embodiment of the present invention;

[0059] Figure 13 This is a flowchart of a vehicle loading control method provided in an embodiment of the present invention;

[0060] Figure 14 This is a system control diagram of an intelligent injection system provided in an embodiment of the present invention;

[0061] Figure 15 This is a work site layout diagram of an intelligent injection system provided in an embodiment of the present invention;

[0062] Figure 16 This is a flowchart of a jet pressure control method provided in an embodiment of the present invention;

[0063] Figure 17 This is a system control diagram of an intelligent antifreeze system provided in an embodiment of the present invention;

[0064] Figure 18 This is a flowchart of an antifreeze control method provided in an embodiment of the present invention. Detailed Implementation

[0065] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0066] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0067] Figure 1 A system control diagram of a coal mine transportation system provided in an embodiment of the present invention, such as... Figure 1As shown, the coal mine transportation system includes: a ground control system 10, an intelligent monitoring system 20, and multiple transportation operation systems; the multiple transportation operation systems include: an unmanned locomotive driving system 30, an intelligent coal feeding system 40, an intelligent loading system 50, an intelligent injection system 60, and an intelligent antifreeze system 70; the ground control system 10 is used to acquire locomotive data, real-time operation information, and abnormal feature information, and to send the locomotive data to each transportation operation system, as well as to send work control information to each transportation operation system based on the locomotive data, real-time operation information, and abnormal feature information to control the working status of each transportation operation system; the work control information includes: driving control information, monitoring control information, coal feeding control information, loading control information, injection control information, and antifreeze control information; the intelligent monitoring system 20 is used to collect data on the work site to obtain real-time operation information, and to extract abnormal feature information based on the real-time operation information, and to send the abnormal feature information and real-time operation information to the ground control system 10 and each transportation operation system; the unmanned locomotive driving system 30 is used to acquire real-time operation information, locomotive data, the aforementioned abnormal feature information, and The system includes a driving status control system 40, which acquires real-time operation information, locomotive data, abnormal characteristic information, and coal feeding control information, and controls the automatic transportation of coal and mineral materials from the material silo to the storage room based on these information. The intelligent coal feeding system 50 acquires real-time operation information, locomotive data, abnormal characteristic information, and coal feeding control information, and controls the automatic transportation of coal and mineral materials from the material silo to the storage room based on these information. The characteristic information and loading control information automatically load coal and mineral materials from the storage room to the locomotive; the intelligent injection system 60 is used to acquire real-time operation information, locomotive data, abnormal characteristic information and injection control information, and automatically injects and pressurizes the coal and mineral materials in each car according to the real-time operation information, locomotive data, abnormal characteristic information and injection control information; the intelligent antifreeze system 70 is used to acquire real-time operation information, locomotive data, abnormal characteristic information and antifreeze control information, and automatically sprays antifreeze into each car according to the real-time operation information, locomotive data, abnormal characteristic information and antifreeze control information.

[0068] Specifically, the intelligent monitoring system 20 can collect data on the work site to monitor real-time operation information throughout the entire transportation process. It can also communicate with the ground control system 10 and each transportation operation system, broadcasting real-time operation information to both systems. This allows the ground control system 10 to monitor the transportation process in real time and control each system, such as controlling the start time of each system's operation. Furthermore, each system can adjust its operation based on the real-time information. Additionally, the intelligent monitoring system 20 has data analysis and processing capabilities. It can analyze and process the monitored real-time operation information (e.g., image information, radar point cloud information, radio frequency signals, etc.) to extract abnormal features from the work site (i.e., extract abnormal feature information). This abnormal feature information can be broadcast to the ground control system 10 and each transportation operation system, enabling the ground control system 10 to coordinate the operation of each system and allowing each system to adjust its operation status accordingly.

[0069] For example, Figure 2 This is a system control diagram of an intelligent monitoring system provided in an embodiment of the present invention. Figure 3 This is a site layout diagram of an intelligent monitoring system provided in an embodiment of the present invention, in conjunction with reference to... Figure 2 and Figure 3 The intelligent monitoring system 20 includes an intelligent monitoring server 21, a lidar 22, an image acquisition module 23, and a radio frequency identification module 24 installed at the work site.

[0070] Specifically, real-time operation information can include image information acquired by the image acquisition module 23, point cloud data acquired by the lidar 22, and radio frequency information acquired by the radio frequency identification module 24. The lidar 22 is used to scan the operation site to form point cloud data. For example, the lidar 22 can scan each car of the locomotive and send the resulting point cloud data to the intelligent monitoring server 21, allowing the intelligent monitoring server 21 to determine the loading status of each car based on the point cloud data. The image acquisition module 23 can be an infrared camera, capable of acquiring image data of the operation site, such as image information of the locomotive tracks and car bodies, and sending this image information to the intelligent monitoring server 21. The intelligent monitoring server 21 can then analyze and process the image information of the locomotive tracks to detect obstacles on the locomotive's route, extract abnormal features, and determine the car type and car number based on the car body image information. The radio frequency identification (RFID) module 24 includes an electronic tag 241 and a reader 242. The electronic tag 241 can be assigned one-to-one with each carriage of the locomotive, meaning an electronic tag 241 can be placed on the bottom of each carriage. The reader 242 can be installed between two tracks. When a carriage passes the reader 242, the reader 242 can identify the carriage information contained in the electronic tag 241 and send the carriage information to the intelligent monitoring server 21. The intelligent monitoring server 21 can then send the carriage information to the ground control server 11 in the ground control system 10, as well as to each transportation operation system, enabling the ground control system 10 and each transportation operation system to have at least the location information of each carriage.

[0071] For example, Figure 4 This is a flowchart of a carriage type identification method provided in an embodiment of the present invention. This carriage type identification method is executed by an intelligent monitoring server, such as... Figure 4 As shown, after acquiring image information through the image acquisition module 23, the intelligent monitoring server 21 can preprocess the image to detect the area where the carriage number is located, and identify the carriage number through OCR technology, thereby determining the carriage type based on the carriage number. Simultaneously, the intelligent monitoring server 21 can scan and analyze the electronic information of the carriage through the radio frequency identification module 24, also obtaining the carriage type information. Furthermore, the intelligent monitoring server 21 analyzes the locomotive data from the ground control server 11 to obtain carriage type information. Finally, the carriage type information obtained through these three methods can be compared to determine if they are the same. If they are the same, the carriage type is sent to the ground control system; if they are different, a prompt message is sent to prompt manual confirmation. The carriage type identification process ends after the type confirmation of the last carriage is completed.

[0072] The ground control system 10, which can be deployed in a ground computer room, is the core of the entire coal mine transportation system, used to schedule the work of various transportation operation systems. For example, Figure 5 This is a system control diagram of another coal mine transportation system provided in an embodiment of the present invention, such as... Figure 5 As shown, the ground control system 10 mainly includes a ground control server 11, an interface module 12, and a power supply module 13. The ground control server 11 communicates with the intelligent monitoring system 20 and various transportation operation systems through the interface module 12. The ground control server 11 is used to acquire locomotive data, real-time operation information, and abnormal characteristic information, and to send the locomotive data to each transportation operation system, as well as to send work control information to each transportation operation system based on the locomotive data, real-time operation information, and abnormal characteristic information. The power supply module 13 is used to provide uninterrupted power to the ground control server 11 and the interface module 12.

[0073] Specifically, the ground control server 11 may be equipped with a computer-readable storage medium, which can carry control software programs to realize data analysis and operation scheduling of the entire coal mine transportation system. It is responsible for comprehensively evaluating the operating status, real-time operation information, and abnormal characteristic information of each transportation operation system during each operation, and for controlling and making decisions on each operation process. The interface module 12 is used to realize data interaction between the ground control server 11, the intelligent monitoring system 20, and each transportation operation system. The intelligent monitoring system 20 can send real-time operation information to the ground control server 11 through the interface module 12, and the ground control server 11 can send work control information to each transportation operation system through the interface module 12. In addition, the ground control server 11 can also communicate with the ground control center responsible for railway scheduling through the interface module 12, so that the ground control server 11 can obtain locomotive data provided by the ground control center through the interface module 12. Locomotive data may include locomotive formation information, the number of locomotive carriages, the type of each carriage, and carriage number, etc. The power module 13 can be an uninterruptible power supply (UPS), which is electrically connected to the ground control server 11 and the interface module 12 respectively, to provide uninterrupted power to the ground control server 11 and the interface module 12, ensuring that the ground control server 11 and the interface module 12 will not stop working due to power failure, and ensuring the reliability of the entire coal mine transportation system.

[0074] The unmanned locomotive system 30 can acquire real-time operational information and abnormal feature information from the work site provided by the intelligent monitoring system 20, as well as locomotive data and driving status control information from the ground control system 10. It can also control the locomotive's movement based on the real-time operational information, locomotive data, abnormal feature information, and driving status control information. For example, during loading, pressurizing, and spraying antifreeze, it can control the locomotive to maintain a constant speed at a low rate if it is determined that there are no obstacles based on abnormal feature information.

[0075] For example, refer to Figure 5 The locomotive unmanned driving system 30 includes a driving decision server 31, an onboard intelligent driving system 32, and a wireless communication system 33. The driving decision server 31 is deployed in a ground computer room, and the onboard intelligent driving system 32 is deployed on the locomotive. The driving decision server 31 and the onboard intelligent driving system 32 communicate wirelessly through the wireless communication system 33. The driving decision server 31 is used to acquire real-time operation information, locomotive data, abnormal feature information, and driving status control information, and sends driving control information to the onboard intelligent driving system 32 based on the real-time operation information, locomotive data, abnormal feature information, and driving status control information. The onboard intelligent driving system 32 is used to control the locomotive's movement based at least on the driving control information.

[0076] Specifically, the driving status control information may include commands for constant speed driving, deceleration driving, acceleration driving, and stopping, and may include corresponding speed information for each driving state. The driving decision server 31, deployed in a ground-based computer room, is primarily responsible for evaluating locomotive formation information, scheduling task information, and safety information based on locomotive data. It can also send corresponding driving control information to the onboard intelligent driving system 32 based on the received driving status control information and abnormal characteristic information, enabling the onboard intelligent driving system 32 to control the locomotive in the appropriate driving state. The driving decision server 31 and the onboard intelligent driving system 32 communicate wirelessly through a wireless communication system 33, allowing the driving decision server 31 to send driving control information to the onboard intelligent driving system 32 via the wireless communication system 33.

[0077] For example, Figure 6 This is a system control diagram of an unmanned locomotive driving system provided in an embodiment of the present invention, such as... Figure 6 As shown, the vehicle-mounted intelligent driving system 32 includes: an intelligent driving host 321 and at least two vehicle-mounted sensing systems 322; the intelligent driving host 321 is used to acquire driving control information and control the vehicle's movement according to the driving control information; the at least two vehicle-mounted sensing systems 322 are respectively deployed at the front and rear ends of the vehicle (not shown in the figure). Figure 6 The example shown includes an in-vehicle intelligent driving system 32 comprising two in-vehicle perception systems 322, but is not limited thereto. Figure 7This is a system control diagram of another unmanned locomotive system provided in an embodiment of the present invention, such as... Figure 7 As shown, the vehicle-mounted perception system 322 includes a perception sensor assembly 3221 and a perception controller 3222. In the same vehicle-mounted perception system 322, the perception sensor assembly 3221 is used to acquire road condition information on the locomotive's travel route and send the road condition information to the perception controller 3222. The perception controller 3222 is used to send obstacle alarm information to the intelligent driving host 321 when it is determined that there is an obstacle on the locomotive's travel route based on the road condition information. The intelligent driving host 321 is also used to control the locomotive to stop when it receives the obstacle alarm information.

[0078] Specifically, the intelligent driving host 321 receives operational decision commands (i.e., driving control information) from the driving decision server 31 and comprehensively evaluates alarm information, locomotive status information, and real-time operation information provided by the onboard perception system 322. It then automatically controls the locomotive to execute traction, braking, and emergency stop commands, all without driver intervention, enabling unmanned driving. Furthermore, after the locomotive unmanned driving system 30 controls the locomotive into unmanned driving mode, the intelligent driving host 321 can simulate the operating techniques of a skilled driver, further achieving fuel efficiency and smooth locomotive control based on road condition information, locomotive formation information, total locomotive operating time, and maximum speed limit. Onboard perception systems 322 can be deployed at both the front and rear ends of the locomotive. Each onboard perception system 322 can have the same structure, including a sensor suite 3221 and a perception controller 3222. The sensing sensor assembly 3221 can collect road condition sensing information in front of the locomotive and transmit this information in real time to the sensing controller 3222 located in the same onboard sensing system 322. The sensing controller 3222 can detect whether there are obstacles on the locomotive's route based on the road condition sensing information. When an obstacle is detected, it promptly sends an obstacle alarm to the intelligent driving host 321. Upon receiving the obstacle alarm, the intelligent driving host 321 can promptly stop the locomotive to avoid a collision with the obstacle. For example, after the obstacle is cleared, the sensing controller 3222 can send a message indicating that there are no obstacles on the locomotive's route to the intelligent driving host 321. At this time, the intelligent driving host 321 can then restart the locomotive's operation based on the driving control information. In addition, the intelligent driving host 321 can send obstacle alarm information to the driving decision server 31, so that the driving decision server 31 can compare it with the abnormal feature information provided by the intelligent monitoring system 20, which can improve the accuracy of obstacle detection. When the obstacle alarm information and the abnormal feature information match, the obstacle alarm information can be further sent to the ground control system 10, so that the ground control system 10 can coordinate the operation of each transportation operation system. When the obstacle alarm information and the abnormal feature information do not match, the staff can be prompted to check the work site. After the staff confirms that there is no obstacle, a driving command can be sent to the intelligent driving host 321 to control the locomotive to resume driving, and the obstacle clearance information is synchronized to the driving decision server 31 and the ground control system 10.

[0079] The wireless communication system 33 may be equipped with a wireless antenna, and the vehicle-mounted wireless antenna may be installed on the roof of the vehicle. Wireless communication between the driving decision server 31 and the vehicle-mounted intelligent driving system 32 can be achieved using methods such as 5G private network and data transmission radio.

[0080] refer to Figure 1The intelligent coal feeding system 40 can acquire real-time operational information and abnormal feature information from the work site provided by the intelligent monitoring system 20, as well as locomotive data and coal feeding control information from the ground control system 10. Based on the real-time operational information, abnormal feature information, locomotive data, and coal feeding control information from the work site, it can automatically transport coal and mineral materials from the material silo to the storage room. At this time, abnormal feature information may include excessive or insufficient storage in the storage room, as well as information on obstacles on the locomotive's travel route.

[0081] For example, Figure 8 This is a system control diagram of an intelligent coal feeding system provided in an embodiment of the present invention. Figure 9 This is a site layout diagram of an intelligent coal feeding system provided in an embodiment of the present invention, in conjunction with reference to... Figure 8 and Figure 9 The intelligent coal feeding system 40 includes: an intelligent coal feeding controller 41, a coal feeder 42, and a conveying system 43; the intelligent coal feeding controller 41 is used to acquire real-time operation information, locomotive data, and coal feeding control information, and controls the operation of the coal feeder 42 and the conveying system 43 according to the real-time operation information, locomotive data, and coal feeding control information, so as to automatically transport coal materials from the material silo 02 to the storage room 04.

[0082] The storage room 04 can be located within the loading station 03, and the storage room 04 may include a buffer bin 041, a metering bin 042, and a chute 043. The buffer bin 041 is used to store materials conveyed from the intelligent coal feeding system 40 and prepare them for further transfer to the metering bin 042; the metering bin 042 is used to store materials from the buffer bin 041.

[0083] Specifically, the intelligent coal feeding controller 41 can be deployed in the machine room (not shown in the figure) within the material silo 02, and can communicate with the ground control server 11 in real time through the interface module 12. The ground control server 11 can determine the current position of each car based on real-time operation information, and can determine the total demand for coal and mineral materials based on the number of cars on the locomotive. Thus, if no abnormality is determined based on abnormal feature information, it can send a work start command to the intelligent coal feeding controller 41 based on the position of each car, and can also send the total demand for coal and mineral materials to the intelligent coal feeding controller 41. After receiving the work start command and the total demand for coal and mineral materials, the intelligent coal feeding controller 41 can control the operation of the coal feeder 42 and the conveyor system 43 to transport the coal and mineral materials in the material silo 02 to the storage room 04 located in the loading station 03 through the coal feeder 42 and the conveyor system 43 (which can be a conveyor belt). Furthermore, during the transportation of coal and mineral materials to storage room 04, the total amount of coal and mineral materials in storage room 04 can be monitored in real time by the intelligent monitoring system 20. When the coal and mineral materials reach a preset capacity, the feeder 42 and conveying system 43 can be stopped in a timely manner. The preset capacity can be the total capacity of storage room 04. In another feasible embodiment, the intelligent coal feeder controller 41 can also determine the current loading status (e.g., loading progress) of storage room 04 onto the locomotive car based on the real-time operation information provided by the intelligent monitoring system 20. Combining the loading status with the actual capacity of coal and mineral materials in storage room 04, the controller can control the feeder 42 and conveying system 43 to feed coal to storage room 04. Simultaneously, the controller can also control the feeder 42 and conveying system 43 to feed coal to storage room 04 based on the locomotive's travel status (e.g., travel speed and abnormal stop due to obstacles). In this way, through data interaction between the ground control system 10 and the intelligent coal feeding system 40, the coal feeding control strategy can be automatically generated based on the actual needs during the loading process, enabling dynamic matching of material supply and demand. It can also achieve automated control of the coal feeder 42 and the conveying system 43, reducing manual intervention throughout the process, further improving the automation level of the coal feeding and transportation system, effectively reducing the idle running time of the conveying system 43, reducing energy consumption, and improving the operating efficiency of the coal transportation system.

[0084] For example, Figure 10 This is a flowchart of a coal feeding control method provided in an embodiment of the present invention. This coal feeding control method can be executed by an intelligent coal feeding controller. (Refer to the reference...) Figures 8-10After receiving the "one-click loading" command from the loader or the coal feeding control command from the ground control system 10, the total amount of coal and mineral materials required for the buffer bin can be calculated. Then, the coal feeder 42 can be started and the conveying system 43 can be operated. The coal and mineral materials are transferred to the buffer bin 041 according to the total amount of coal and mineral materials. The coal and mineral materials can also be automatically distributed to the quantitative bin 042 according to the storage in the buffer bin 041 and the quantitative bin 042. During the uniform speed travel of the locomotive, the chute 043 is tilted to load the cars until the last car is loaded, ending the coal feeding control process. After the coal and mineral materials are transferred to the buffer bin 041, it can also be detected whether the total amount of coal and mineral materials in the buffer bin 041 has reached the maximum capacity. If so, the coal feeder 42 and the conveying system 43 are stopped until the total amount of coal and mineral materials is lower than the maximum capacity of the buffer bin 041. Then, the coal feeder 42 and the conveying system 43 can be restarted to prevent the coal and mineral materials in the buffer bin 041 from overflowing.

[0085] refer to Figure 1 The intelligent loading system 50 is used to acquire real-time operation information, locomotive data, abnormal feature information and loading control information, and to control the coal and mineral materials to be automatically loaded from the storage room 04 to the locomotive 01 based on the real-time operation information, locomotive data, abnormal feature information and loading control information.

[0086] Specifically, the intelligent loading system 50 can determine the current position of each car based on real-time operation information, and determine the type and number of each car based on locomotive data. This allows it to determine the rated capacity of each car based on its type, and the number of remaining cars based on the car number currently being loaded. Similarly, the ground control system 10 can determine the position of each car based on real-time operation information and send loading control information to the intelligent loading system 50 when a car reaches its loading position. This allows the intelligent loading system 50 to start operation and automatically fill the coal and mineral materials in storage compartment 04 into the cars. Furthermore, the intelligent loading system 50 can control the loading rate based on the rated capacity of the car at the current loading position and the current speed of the locomotive, ensuring that the coal and mineral materials in each type of car reach the target capacity after loading.

[0087] For example, Figure 11 This is a system control diagram of an intelligent loading system provided in an embodiment of the present invention. Figure 12 This is a work site layout diagram of an intelligent loading system provided in an embodiment of the present invention, in conjunction with reference to [reference needed]. Figure 11 and Figure 12The intelligent loading system 50 includes: an intelligent loading controller 51, a buffer bin gate controller 52, a quantitative bin gate controller 53, and a chute controller 54. The intelligent loading controller 51 is deployed in the machine room 031 of the loading station 03. The intelligent loading controller 51 is used to acquire real-time operation information, locomotive data, abnormal feature information, and loading control information, as well as to acquire storage information of the buffer bin 041 and the quantitative bin 042. Based on the real-time operation information, locomotive data, abnormal feature information, loading control information, and storage information, it outputs control information to the buffer bin gate controller 52, the quantitative bin gate controller 53, and the chute controller 54, respectively. The buffer bin gate controller 52 is used to control the operation of the buffer bin gate A1 according to the control information. The quantitative bin gate controller 53 is used to control the operation of the quantitative bin gate A2 according to the control information. The chute controller 54 is used to control the operation of the chute 043 according to the control information.

[0088] Specifically, the intelligent loading controller 51 is deployed in the machine room 031 of the loading station 03, and can communicate with the buffer bin gate controller 52, the quantitative bin gate controller 53, and the chute controller 54 respectively. The buffer bin gate controller 52 can be located in the buffer bin 041 to control the operation of the buffer bin gate A1 based on control information provided by the intelligent loading controller 51, so that when the buffer bin gate A1 is opened, the coal and mineral materials in the buffer bin 041 can enter the quantitative bin 042. The quantitative bin gate controller 53 can be located in the quantitative bin 042 to control the operation of the quantitative bin gate A2 based on control information provided by the intelligent loading controller 51, so that when the buffer bin gate A1 is opened, the coal and mineral materials in the quantitative bin 042 can be filled into the car body through the chute 043. The chute controller 54 can be located at a preset position on the chute 043 and can control the height, tilt angle, and tilt direction of the chute 043 based on control information. In an exemplary embodiment, the intelligent loading controller 51 can store control models corresponding to each car type. When loading the current car, the type of the car can be obtained first, and then the car type can be matched with the control model. Then, during the loading process, the corresponding control signals can be output to the buffer bin gate controller 52, the quantitative bin gate controller 53, and the chute controller 54 according to the control model. At the same time, during the loading process, relevant data information can also be collected in real time. For example, the storage information of coal and mineral materials in the storage room 04 can be collected so as to send corresponding prompt signals to the intelligent coal feeding system in a timely manner when the coal and mineral materials are insufficient or excessive. The actual storage of coal and mineral materials in the currently loaded car and the locomotive's travel speed information can also be collected in real time so as to adjust the control signals output to the buffer bin gate controller 52, the quantitative bin gate controller 53, and the chute controller 54 according to the control model.

[0089] For example, in conjunction with reference Figure 11 or Figure 12The intelligent loading system 50 also includes: a human-machine operating system 55; the human-machine operating system 55 mainly includes a display terminal 551, an operation panel 552, and a voice interaction system 553.

[0090] Specifically, the human-machine operating system 55 can be set up in the control room 05 of the loading station 03. During the loading process, staff can send operation commands through the operation panel 552 and voice interaction system 553 in the human-machine operating system 55, which can realize manual intervention and switch the loading mode from automatic mode to semi-automatic mode with manual intervention. The relevant information (e.g., storage information) of buffer bin 041 can be sent from buffer bin gate controller 52 and / or intelligent monitoring system 20 to intelligent loading controller 51 and human-machine operating system 55. Similarly, the relevant information (e.g., storage information) of quantitative bin 042 can be sent from quantitative bin gate controller 53 and / or intelligent monitoring system 20 to intelligent loading controller 51 and human-machine operating system 55. This allows intelligent loading controller 51 to send relevant prompts to intelligent coal feeding system 40 via ground control system 10 based on the relevant information of buffer bin 041 and quantitative bin 042. Alternatively, when intelligent loading controller 51 communicates directly with intelligent coal feeding controller 41 in intelligent coal feeding system 40, intelligent loading controller 51 can directly send relevant prompts to intelligent coal feeding system 40 based on the relevant information of buffer bin 041 and quantitative bin 042. Furthermore, after receiving the relevant information of buffer bin 041 and quantitative bin 042, human-machine operating system 55 can display the relevant information of buffer bin 041 and quantitative bin 042 via display terminal 551.

[0091] For example, Figure 13 This is a flowchart of a loading control method provided in an embodiment of the present invention. This loading control method can be executed by an intelligent loading controller. (Refer to the reference...) Figures 10-12The system can receive "one-click loading" commands from loading operators via the 553 voice interaction system, and simultaneously acquire loading control information from the ground control server. It can then comprehensively evaluate locomotive data and loading control information to determine the type of each car and, consequently, the loading capacity of each car. When initiating the loading process based on the loading control information, it first identifies the information of the current car and compares it with the car type determined from the locomotive data to obtain the current loading capacity. Then, it controls the height and tilt angle of the chute using a chute control model to load the current car. During the loading process of the current car, the system's operation can be monitored to ensure it is functioning correctly. This includes checking the control of the chute height and tilt angle, as well as the control of the buffer and quantitative loading gates. If the system is operating normally, the loading capacity of the car is continuously monitored until the current car is fully loaded. Then, the car's number is checked to determine if it is the last car. If it is, the loading control process ends; otherwise, it returns to the car information identification step to load the next car. In case of system malfunctions (e.g., locomotive stoppage, buffer gate control malfunction, quantitative loading gate control malfunction), the system can be manually switched to a "semi-automatic loading mode" via the human-machine interface. The system can then manually confirm the fault information at each stage and manually control the chute to ensure uninterrupted loading.

[0092] refer to Figure 1 The intelligent injection system 60 can acquire real-time operation information and abnormal feature information provided by the intelligent monitoring system 20, and locomotive data and injection control information provided by the ground control system 10. Based on these information, it injects and pressurizes the coal and mineral materials in each car. The ground control system 10 can assess the operation of the unmanned locomotive system 30 to determine the locomotive's driving status, and can comprehensively assess the locomotive's driving status, real-time operation information and abnormal feature information provided by the intelligent monitoring system 20, operation information from the intelligent loading system 50, and vehicle locomotive data. Based on the assessment results, it sends injection control information to the intelligent injection system 60 to control the start time and interval time of the intelligent injection system 60's operation. The intelligent injection system 60 can determine the position of each car based on real-time operation information to execute the injection action when the car reaches the injection position. It can also determine the car type based on locomotive data and, combined with the injection control information, automatically perform precise injection actions on each car, such as adjusting the amount of adhesive applied and the pressure.

[0093] For example, Figure 14 This is a system control diagram of an intelligent injection system provided in an embodiment of the present invention. Figure 15This is a work site layout diagram of an intelligent injection system provided in an embodiment of the present invention, in conjunction with reference to [reference needed]. Figure 14 and Figure 15 The intelligent spraying system 60 includes: an intelligent spraying controller 61, a compaction device 62, a glue spraying device 63, and a cleaning robot 64; the intelligent spraying controller 61 is used to acquire real-time operation information, locomotive data, abnormal feature information, and spraying control information, and controls the compaction device 62, the glue spraying device 63, and the cleaning robot 64 to work according to the real-time operation information, locomotive data, and spraying control information.

[0094] Specifically, after loading is completed in the carriages, the compaction and adhesive spraying processes begin. The intelligent spraying controller 61 can be deployed in a ground-based equipment room to control and monitor the compaction and adhesive spraying processes. The intelligent spraying controller 61 communicates with the compaction device 62, the adhesive spraying device 63, and the cleaning robot 64 to control each actuator. The intelligent spraying controller 61 can determine the position of each carriage based on real-time operation information. When carriage 011 reaches the compaction device 62, it controls the height of the compaction device 62 to compact the coal and mineral materials inside carriage 011. When carriage 011 reaches the position of the cleaning robot 64, it controls the cleaning robot 64 to clean the coal and mineral materials inside carriage 011. And when carriage 011 reaches the position of the adhesive spraying device 63, it controls the adhesive spraying device 63 to spray adhesive into carriage 011 to achieve a dust suppression effect.

[0095] In one exemplary embodiment, the intelligent injection controller 61 can assess the loading status of the car body based on real-time operation information and abnormal feature information provided by the intelligent monitoring system 20 to determine whether the car body is unevenly loaded. If uneven loading occurs, it can prompt manual intervention and execute a "semi-automatic" injection mode. When there is no uneven loading, the intelligent injection controller 61 can retrieve the roller (i.e., compaction device 62) height control model that matches the current car body type to control the compaction device 62 to the corresponding height to compact the coal and mineral materials in the car body. At the same time, the locomotive unmanned driving system 30 can control the locomotive to run at a constant speed under the coordinated control of the ground control system 10 to ensure the compaction effect. During the compaction process, the image acquisition module 23, located near the compaction device 62, can monitor the coal spillage. The image quality can be improved by preprocessing methods such as noise reduction and contrast enhancement through the intelligent monitoring server 21. The intelligent monitoring server 21 can be equipped with a deep learning analysis model for detecting abnormal conditions on the surface of the carriage, which has been trained with a large amount of data. The preprocessed image can be detected by the deep learning analysis model to determine whether there is an abnormal situation where coal and mineral materials are spilled to the edge of the carriage after the compaction operation, so as to extract abnormal features. If the above-mentioned abnormal situation occurs, the intelligent spray controller 61 will send a cleaning instruction to the cleaning robot 64 so that the cleaning robot 64 can clean the coal and mineral materials on the edge of the carriage. After the cleaning is completed, the image can be analyzed again through the intelligent monitoring system 20 to ensure that there are no coal and mineral materials on the edge of the carriage before proceeding to the next glue spraying procedure. Understandably, when it is determined that coal and mineral materials have scattered to the edges of the car after compaction, the intelligent monitoring server 21 can also send abnormal characteristic information about the scattered coal and mineral materials to the unmanned locomotive system 30. This allows the unmanned locomotive system 30 to control the locomotive to slow down or stop based on the abnormal characteristic information, and then control the locomotive to maintain a constant speed after cleaning is completed. The above procedure can be used to complete the compaction and adhesive spraying operation for each car one by one, until the last car is finished with adhesive spraying.

[0096] For example, Figure 16 This is a flowchart of a jet pressure control method provided in an embodiment of the present invention. This jet pressure control method can be executed by an intelligent jet pressure controller 61, such as... Figure 16As shown, the intelligent injection control controller 61 first acquires injection control information and locomotive data sent by the ground control server, and then comprehensively evaluates the locomotive data to determine the type and number of each car. Next, it identifies the current car to obtain its type and number, comparing it with the car type and number determined based on the locomotive data to determine the compaction force, adhesive application amount, adhesive application rate, and other information. Then, it acquires laser radar scanning information on the car loading status to detect whether the current car is unevenly loaded, or directly acquires abnormal feature information related to uneven loading provided by the intelligent monitoring server 21. When uneven loading is confirmed, it manually switches to a "semi-automatic" compaction mode, and allows manual confirmation of information and faults at each stage, while also enabling manual compaction control. After the compaction operation is completed, the preprocessed images of the carriage from the intelligent monitoring module are obtained to detect whether any coal or mineral materials are scattered on the edges of the carriage. If so, the cleaning robot is controlled to clean it, and during the cleaning process, the preprocessed images of the carriage from the intelligent monitoring module are continuously monitored until it is determined that there are no coal or mineral materials on the edges of the carriage. Then, the glue spraying device is activated to complete the "glue spraying and dust suppression" process. After the "glue spraying and dust suppression" process is completed, it can be detected whether the current carriage is the last carriage. If it is the last carriage, the pressure spraying control process ends; if it is not the last carriage, the process returns to the carriage information recognition step and pressure spraying is performed on the next carriage. When it is determined that the current carriage is not unevenly loaded, the roller height control model corresponding to the current carriage type can be obtained to control the roller height (i.e., the height of the compaction device) according to the model, thereby achieving the compaction operation of the coal or mineral materials in the carriage.

[0097] refer to Figure 1 The intelligent antifreeze system 70 is used to acquire real-time operation information, locomotive data, and antifreeze control information, and spray antifreeze onto each car based on these information. The ground control system 10 can assess the operation of the locomotive unmanned driving system 30 and abnormal characteristic information to determine the locomotive's driving status. It can also comprehensively assess the locomotive's driving status, real-time operation information provided by the intelligent monitoring system 20, operation information from the intelligent loading system 50, and vehicle locomotive data, and send antifreeze control information to the intelligent antifreeze system 70 based on the assessment results to control the start time and interval of the antifreeze system 70's operation. The intelligent antifreeze system 70 can determine the position of each car based on real-time operation information, and execute the spraying action when the car reaches the antifreeze spraying location. It can also determine the car type based on locomotive data, and combined with antifreeze control information and abnormal characteristic information, can perform precise spraying actions on each car, such as the spray volume and spraying rate of antifreeze.

[0098] For example, Figure 17This is a system control diagram of an intelligent antifreeze system provided in an embodiment of the present invention, such as... Figure 17 As shown, the intelligent antifreeze system 70 includes: an intelligent antifreeze controller 71, a track scale system 72, and an automatic antifreeze spraying system 73; the track scale system 72 is used to weigh each car of the locomotive and send the weight information of each car to the intelligent antifreeze controller 71; the intelligent antifreeze controller 71 is used to spray antifreeze onto each car based on the weight information, real-time operation information, frozen coal information in the car provided by the intelligent monitoring system, locomotive data, abnormal feature information, and antifreeze control information.

[0099] Specifically, based on this system, a "winter loading mode" can be set up, which can automatically perform functions such as detecting remaining frozen coal and automatically spraying antifreeze for winter transportation. Intelligent antifreeze systems 70 can be installed before and after loading stations; that is, antifreeze treatment is performed on the remaining frozen coal in the wagon before loading, and antifreeze is sprayed after loading to prevent the coal from freezing. The intelligent antifreeze controller 71 can be installed in a ground-based equipment room and can communicate with the ground control server 11 via an interface module 12. The intelligent monitoring system 20 can obtain information about the frozen coal in the wagon (such as the remaining amount of frozen coal) based on image information and radar scan point cloud information, and can provide this information to the intelligent antifreeze controller 71. The track scale system 72 can weigh the wagon, and the intelligent antifreeze controller 71 can also communicate with the track scale system 72 and the automatic antifreeze spraying system 73 to obtain the actual weight of the wagon provided by the track scale system 72 and control the operation of the automatic antifreeze spraying system 73.

[0100] For example, Figure 18 This is a flowchart of an antifreeze control method provided in an embodiment of the present invention, in conjunction with reference to [reference needed]. Figure 17 and Figure 18 The intelligent anti-freezing controller 71 can receive "winter loading mode" commands issued by the loading operator through the voice interaction system or anti-freezing control commands sent by the ground control system, as well as locomotive data provided by the ground control server 11 and evaluate the locomotive data to determine the locomotive type and further determine the weight of the empty car. It can then track the current car, and when the current car passes the track scale system 72, the actual weight of the car can be obtained through the track scale system 72. In addition, the intelligent monitoring system 20 can evaluate the remaining coal and mineral materials in the car (i.e., frozen coal information in the car) based on lidar and image processing. After preprocessing, the image and point cloud data can be analyzed using a deep learning analysis model of weight and volume to determine the specific weight and volume information of the coal and mineral materials in the car, enabling a comprehensive quantitative assessment of the coal and mineral material reserves in the car.

[0101] To further improve the accuracy of assessing the coal and mineral reserves in the car, the intelligent monitoring system 20 can also obtain the actual weight of the car from the track scale system 72 through the intelligent anti-freeze controller 71. Using data fusion technology, the actual weight of the car is compared and corrected with the aforementioned assessed coal and mineral reserves in the car, and finally comprehensive data containing the precise weight and volume of the coal and mineral reserves is generated.

[0102] In the "winter loading mode," before the coal mine transportation system enters the intelligent loading process, the ground control server 11 comprehensively evaluates the operation of the intelligent monitoring system 20 and each transportation operation system. Based on the evaluation results, it sends antifreeze control information to the intelligent antifreeze controller 71, enabling the intelligent antifreeze controller 71 to further control the automatic antifreeze spraying system 73 to complete the automatic spraying of antifreeze and prevent the coal and mineral materials from freezing. Finally, the intelligent monitoring system 20 sends the data fusion results (i.e., comprehensive data including the precise weight and volume of coal and mineral materials) to the intelligent loading controller 51, which automatically adjusts the coal loading amount of each car, thereby avoiding coal spillage accidents during unmanned loading operations. At the same time, the intelligent antifreeze controller 71 can also send the amount of frozen coal stored in the car to the ground control system. The antifreeze control process ends after the last car has completed the automatic spraying of antifreeze. Understandably, during the automatic spraying of antifreeze, abnormal feature information can also be obtained in real time to adjust the spraying situation (such as reducing the spraying rate or stopping spraying) when the locomotive stops abnormally.

[0103] In summary, the coal mine transportation system provided by this invention, through real-time data interaction between the ground control system, intelligent monitoring system, and various transportation operation systems, not only improves the accuracy and efficiency of coal loading operations but also effectively reduces operational delays and resource waste caused by coal freezing. This provides a strong guarantee for the smooth operation of railway transportation and offers a green, intelligent, and efficient comprehensive solution for coal enterprises and other industrial and mining enterprises. It helps achieve goals such as energy conservation and emission reduction, staff reduction, and efficiency improvement, contributing to a green, intelligent, safe, and comfortable production and operation environment, and ultimately enhancing quality and efficiency while increasing economic benefits. Furthermore, this solution can also be widely applied to other material transportation categories within the rail transit field.

[0104] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A coal mine haulage system characterised in that, include: Ground control system, intelligent monitoring system, and multiple transportation operation systems; The multiple transportation operation systems include: unmanned locomotive driving system, intelligent coal feeding system, intelligent loading system, intelligent injection system, and intelligent antifreeze system; The ground control system is used to acquire locomotive data, real-time operation information, and abnormal feature information, and to send the locomotive data to each of the transportation operation systems. It also sends work control information to each of the transportation operation systems based on the locomotive data, real-time operation information, and abnormal feature information to control the working status of each transportation operation system. The work control information includes: driving status control information, monitoring control information, coal feeding control information, loading control information, injection pressure control information, and antifreeze control information. The intelligent monitoring system is used to collect data on the work site to obtain the real-time work information of the work site, extract the abnormal feature information based on the real-time work information, and send the abnormal feature information and the real-time work information to the ground control system and each of the transportation operation systems. The unmanned locomotive system is used to acquire the real-time operation information, locomotive data, abnormal feature information, and driving state control information, and to control the locomotive's driving state based on the real-time operation information, locomotive data, abnormal feature information, and driving state control information. The unmanned locomotive system includes an onboard intelligent driving system. The onboard intelligent driving system includes: an intelligent driving host and at least two onboard perception systems. The intelligent driving host is used to acquire driving control information and control the locomotive's movement based on the driving control information. At least two onboard perception systems are respectively deployed at the front and rear ends of the locomotive. Each onboard perception system includes a sensor array and a perception controller. Within the same onboard perception system, the sensor array is used to acquire road condition information along the locomotive's route and send the road condition information to the perception controller. The perception controller is used to send an obstacle alarm to the intelligent driving host when it determines that an obstacle exists along the locomotive's route based on the road condition information. The intelligent driving host is also used to control the locomotive to stop upon receiving the obstacle alarm. The intelligent coal feeding system is used to acquire the real-time operation information, the locomotive data, the abnormal feature information, and the coal feeding control information, and automatically transport coal and mineral materials from the material silo to the storage room according to the real-time operation information, the locomotive data, the abnormal feature information, and the coal feeding control information; The intelligent loading system is used to acquire the real-time operation information, locomotive data, abnormal feature information, and loading control information, and to control the automatic loading of coal and mineral materials from the storage room to the locomotive based on the real-time operation information, locomotive data, and loading control information. The intelligent loading system includes: an intelligent loading controller, a buffer bin gate controller, a quantitative bin gate controller, and a chute controller. The intelligent loading controller is deployed in the machine room of the loading station. The intelligent loading controller is used to acquire the real-time operation information, locomotive data, abnormal feature information, and loading control information, as well as the storage information of the buffer bin and quantitative bin. Based on the real-time operation information, locomotive data, abnormal feature information, loading control information, and storage information, it outputs control information to the buffer bin gate controller, the quantitative bin gate controller, and the chute controller, respectively. The buffer bin gate controller controls the operation of the buffer bin gate based on the control information. The quantitative bin gate controller controls the operation of the quantitative bin gate based on the control information. The chute controller controls the operation of the chute based on the control information. The intelligent spraying system is used to acquire the real-time operation information, locomotive data, abnormal feature information, and spraying control information, and automatically sprays the coal and mineral materials in each car according to the real-time operation information, locomotive data, abnormal feature information, and spraying control information. The intelligent spraying system includes: an intelligent spraying controller, a compaction device, a glue spraying device, and a cleaning robot. The intelligent spraying controller is used to acquire the real-time operation information, locomotive data, abnormal feature information, and spraying control information, and control the compaction device, the glue spraying device, and the cleaning robot to work according to the real-time operation information, locomotive data, abnormal feature information, and spraying control information. The intelligent antifreeze system is used to acquire the real-time operation information, the locomotive data, the abnormal feature information, and the antifreeze control information, and automatically spray antifreeze onto each of the carriages according to the real-time operation information, the locomotive data, and the antifreeze control information.

2. The coal mine transportation system according to claim 1, characterized in that, The ground control system is deployed in a ground computer room and includes a ground control server, an interface module, and a power module. The ground control server communicates with the intelligent monitoring system and each of the transportation operation systems through the interface module; the ground control server is used to acquire the locomotive data, the real-time operation information and the abnormal feature information, and send the locomotive data to each of the transportation operation systems, and send work control information to each of the transportation operation systems according to the locomotive data, the real-time operation information and the abnormal feature information. The power module is used to provide uninterrupted power to the ground control server and interface module.

3. The coal mine transportation system according to claim 1, characterized in that, The intelligent monitoring system includes an intelligent monitoring server and a lidar, an image acquisition module, and a radio frequency identification module installed at the work site.

4. The coal mine transportation system according to claim 1, characterized in that, The unmanned locomotive system also includes a driving decision server and a wireless communication system; The driving decision server is deployed in a ground-based computer room, and the vehicle-mounted intelligent driving system is deployed in the vehicle. The driving decision server and the in-vehicle intelligent driving system communicate wirelessly through the wireless communication system; The driving decision server is used to acquire the real-time operation information, the locomotive data, the abnormal feature information, and the driving state control information, and to send driving control information to the vehicle intelligent driving system based on the real-time operation information, the locomotive data, the abnormal feature information, and the driving state control information; The in-vehicle intelligent driving system is used to control the locomotive's movement based at least on the driving control information.

5. The coal mine transportation system according to claim 1, characterized in that, The intelligent coal feeding system includes: an intelligent coal feeding controller, a coal feeder, and a conveying system; The intelligent coal feeder controller is used to acquire the real-time operation information, the locomotive data, the abnormal feature information, and the coal feeding control information, and controls the operation of the coal feeder and the conveying system according to the real-time operation information, the locomotive data, the abnormal feature information, and the coal feeding control information, so as to automatically transport the coal material from the material silo to the storage room.

6. The coal mine transportation system according to claim 1, characterized in that, The intelligent loading system also includes: a human-machine operating system; The human-machine operating system includes a display terminal, an operation panel, and a voice interaction system.

7. The coal mine transportation system according to claim 1, characterized in that, The intelligent antifreeze system includes: an intelligent antifreeze controller, a track balance system, and an automatic antifreeze spraying system; The track scale system is used to weigh each car of the locomotive and send the weight information of each car to the intelligent anti-freeze controller. The intelligent antifreeze controller is used to automatically spray antifreeze onto each of the cars based on the weight information, the real-time operation information, the frozen coal information in the car provided by the intelligent monitoring system, the locomotive data, the abnormal feature information, and the antifreeze control information.

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