CN114444857A - Automatic management system for unloading area of surface mine - Google Patents
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Abstract
The invention provides an automatic management system for an unloading area of a surface mine, which is characterized in that a map management device, an edge monitoring terminal and a central management device are arranged, the map management device is used for updating map information of the unloading area of the surface mine and providing the map information to guide automatic driving of unloading vehicles, the edge monitoring terminal collects environmental information of the unloading area of the surface mine in real time and analyzes the environmental information to obtain analysis data, and the central management device assists scheduling management of the unloading vehicles according to the analysis data, generates map updating information according to the environmental information and sends the map updating information to the map management device; the method includes that the edge monitoring terminals collect and analyze environmental information of unloading areas in real time, the central management device comprehensively assists dispatching management of unloading vehicles according to the environmental information of all the unloading areas so as to improve operation and loading and unloading efficiency of the unloading vehicles, and map information is updated in real time by means of the environmental information collected in real time so as to improve operation safety of the unloading vehicles.
Description
Technical Field
The invention relates to the technical field of surface mine unloading, in particular to an automatic management system for an unloading area of a surface mine.
Background
With the continuous development of the automatic driving technology, the automatic driving technology of the mining area is also developed. Mine car operation processes include loading, transporting and unloading, and potential safety hazards are easily generated in the processes due to the severe environment of a mining area. Accidents such as vehicle sliding and side turning caused by road bump in the transportation process; in addition, the dumping site in the dumping link is mostly a deep ditch of 20-30 meters, and the rollover risk of vehicles is extremely high.
The existing mine unloading area operation process is low in automation level, and has a plurality of problems to be solved urgently. The method has the advantages that firstly, the efficiency problem is solved, the size of a engineering machine in an unloading area is large, a plurality of visual field blind areas exist in an operation vehicle, the real-time state of an unloading parking space cannot be known under the condition of no scheduling, and the condition of traffic jam is easy to occur, so that the operation efficiency is low; in addition, the safety problem is solved, the risks of falling rocks, collapse and the like generally exist in mine operation, the driving safety of vehicles is influenced by the flatness of the field, and particularly, the vehicles are automatically driven in the mine. The existing automatic management system of the urban public parking lot is built on the basis of urban pavements, the application scene of the system is greatly different from the road conditions of mining areas, and the states of the urban pavements are relatively fixed and stable. Therefore, a complete unloading area automatic management system is needed to improve the efficiency and safety of the full-automatic operation of the mine car.
Disclosure of Invention
In view of the above, embodiments of the present invention are directed to providing an automatic management system for an unloading area of a surface mine, which solves the above problems.
The invention provides an automatic management system for an unloading area of a surface mine, which comprises: a map management device for updating map information of the surface mine unloading area and providing the map information to an unloading vehicle; the edge monitoring terminal is arranged in the surface mine unloading area and on the running path of the unloading vehicle and is used for acquiring the environmental information of the surface mine unloading area in real time and analyzing the environmental information to obtain analysis data; and the central management device is in communication connection with the map management device and the edge monitoring terminal and is used for assisting the dispatching management of the unloading vehicle according to the analysis data, generating map updating information according to the environment information and sending the map updating information to the map management device.
In an embodiment, the edge monitoring terminals include a plurality of edge monitoring terminals, and the plurality of edge monitoring terminals are respectively located in a plurality of unloading areas of the surface mine so as to respectively collect and analyze environmental information of the plurality of unloading areas.
In one embodiment, the edge monitoring terminal includes: the data acquisition modules comprise a plurality of data acquisition modules, are distributed on the unloading area of the surface mine and the running path of the unloading vehicle, and are used for acquiring the environmental data of each data acquisition point; the environment monitoring module is in communication connection with the data acquisition module and is used for obtaining the analysis data according to the environment data acquired by the data acquisition module; and the communication module is in communication connection with the environment monitoring module and the central management device and is used for sending the analysis data to the central management device.
In an embodiment, the environment monitoring module includes a parking space empty and full monitoring unit, a road surface quality monitoring unit, a terrain management unit and a traffic flow monitoring unit, wherein the parking space empty and full monitoring unit, the road surface quality monitoring unit, the terrain management unit and the traffic flow monitoring unit are respectively in communication connection with the data acquisition module and are used for respectively obtaining parking space empty and full information, road surface quality information, terrain information and traffic flow information according to the environment data.
In one embodiment, the data acquisition module comprises any one or a combination of the following devices: cameras, laser radar, millimeter wave radar.
In an embodiment, the edge monitoring terminal further includes: the system running state monitoring module is in communication connection with the data acquisition module and the environment monitoring module and is used for monitoring the working states of the data acquisition module and the environment monitoring module.
In an embodiment, the edge monitoring terminal further includes: and the system infrastructure module is used for supporting the work of the data acquisition module and the environment monitoring module.
In one embodiment, the system infrastructure module comprises: a power supply device and an installation platform; the power supply equipment is used for providing electric energy for the data acquisition module and the environment monitoring module, and the mounting platform is used for fixedly mounting the data acquisition module and the environment monitoring module.
In an embodiment, the terrain management unit compares the terrain information acquired in real time with the map information to obtain terrain change information of the unloading area of the surface mine, and sends the terrain change information to the map management device to update the map information.
In an embodiment, the central management device is located at a cloud end, the central management device sends the analysis data to a cloud end vehicle dispatching center to assist in dispatching and managing the unloading vehicle, and the central management device monitors and manages the edge monitoring terminal.
The embodiment of the invention provides an automatic management system for an unloading area of a surface mine, which is characterized in that a map management device, an edge monitoring terminal and a center management device are arranged, the edge monitoring terminal is arranged on the unloading area of the surface mine and a running path of an unloading vehicle, the center management device is in communication connection with the map management device and the edge monitoring terminal, the map management device is used for updating map information of the unloading area of the surface mine and providing the map information to the unloading vehicle so as to guide the automatic driving of the unloading vehicle, the edge monitoring terminal collects environmental information of the unloading area of the surface mine in real time and analyzes the environmental information to obtain analysis data, and the center management device assists the dispatching management of the unloading vehicle according to the analysis data, generates map updating information according to the environmental information and sends the map updating information to the map management device; the method comprises the steps that the edge monitoring terminals acquire and analyze environmental information of unloading areas in real time, the central management device comprehensively assists dispatching management of unloading vehicles according to the environmental information of each unloading area so as to improve operation and loading and unloading efficiency of the unloading vehicles, and the edge monitoring terminals acquire the environmental information to update map information in real time so as to improve operation safety of the unloading vehicles.
Drawings
Fig. 1 is a schematic structural diagram of an automatic management system for an unloading area of a surface mine according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural diagram of an edge monitoring terminal according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Further, in the exemplary embodiments, since the same reference numerals denote the same components having the same structure or the same steps of the same method, if an embodiment is exemplarily described, only a structure or a method different from the already described embodiment is described in other exemplary embodiments.
Throughout the specification and claims, when one element is described as being "connected" to another element, the one element may be "directly connected" to the other element or "electrically connected" to the other element through a third element. Furthermore, unless explicitly described to the contrary, the term "comprising" and its corresponding terms should only be taken as including the stated features, but should not be taken as excluding any other features.
Fig. 1 is a schematic structural diagram illustrating an automatic management system for an unloading area of a surface mine according to an embodiment of the present disclosure. As shown in fig. 1, the automatic management system for an unloading area of a surface mine includes: a map management device 100, an edge monitoring terminal 200, and a center management device 300; wherein the map management apparatus 100 is for updating map information of an unloading area of a surface mine and providing the map information to an unloading vehicle, to guide the automatic driving of the discharge vehicle, the edge monitoring terminal 200 is disposed on the surface mine unloading area and the travel path of the discharge vehicle, the edge monitoring terminal 200 collects environmental information of the surface mine unloading area in real time and analyzes the environmental information, to obtain the analysis data, the center management device 300 is connected to the map management device 100 and the edge monitoring terminal 200 in a communication manner, the center management device 300 assists the dispatching management of the discharging vehicle according to the analysis data, in order to improve the degree of automation and efficiency of the entire surface mine unloading area, the center management device 300 generates map update information according to the environmental information and transmits the map update information to the map management device 100 to update the map information, thereby improving the accuracy and real-time of the map. The map management device 100 structures all the interactive elements in the scene on the global map, and records road information, parking space information, safety information, and the like of each unloading area. Due to the complex and changeable mining area environment, the map information needs to be updated in real time to meet the use requirement. Specifically, in the unloading area automatic management system, the map management device 100 is mainly responsible for providing real-time unloading parking space position information, unloading area terrain information and static traffic sign information. Because the mining area unloading area can be continuously pushed forward according to the operation progress, the unloading car position also needs to be updated every day. The map management device 100 receives the terrain updating information sent by the center management device 300 in real time, and updates the information into the dynamic map layer, so as to realize real-time recording of the environmental conditions of the mining area.
The embodiment of the invention provides an automatic management system for an unloading area of a surface mine, which is characterized in that a map management device, an edge monitoring terminal and a center management device are arranged, the edge monitoring terminal is arranged on the unloading area of the surface mine and a running path of an unloading vehicle, the center management device is in communication connection with the map management device and the edge monitoring terminal, the map management device is used for updating map information of the unloading area of the surface mine and providing the map information to the unloading vehicle so as to guide the automatic driving of the unloading vehicle, the edge monitoring terminal collects environmental information of the unloading area of the surface mine in real time and analyzes the environmental information to obtain analysis data, and the center management device assists the dispatching management of the unloading vehicle according to the analysis data, generates map updating information according to the environmental information and sends the map updating information to the map management device; the method comprises the steps that the edge monitoring terminals acquire and analyze environmental information of unloading areas in real time, the central management device comprehensively assists dispatching management of unloading vehicles according to the environmental information of each unloading area so as to improve operation and loading and unloading efficiency of the unloading vehicles, and the edge monitoring terminals acquire the environmental information to update map information in real time so as to improve operation safety of the unloading vehicles.
In an embodiment, the edge monitoring terminals 200 may include a plurality of edge monitoring terminals 200 respectively located in a plurality of unloading areas of the surface mine to respectively collect and analyze environmental information of the plurality of unloading areas. The central management device 300 comprehensively assists the dispatching management of the unloading vehicles according to the environment information of each unloading area collected by the plurality of edge monitoring terminals 200, so as to improve the operation and loading and unloading efficiency of the unloading vehicles.
Fig. 2 is a schematic structural diagram of an edge monitoring terminal according to an embodiment of the present application. As shown in fig. 2, the edge monitoring terminal 200 may include: a data acquisition module 210, an environment monitoring module 220 and a communication module 230; the data acquisition modules 210 are distributed on the running paths of unloading areas and unloading vehicles of the surface mines and used for acquiring environmental data of each data acquisition point, the environment monitoring module 220 is in communication connection with the data acquisition modules 210 and used for obtaining analysis data according to the environmental data acquired by the data acquisition modules 210, and the communication module 230 is in communication connection with the environment monitoring module 220 and the central management device 300 and used for sending the analysis data to the central management device 300.
In an embodiment, the data acquisition module 210 may include any one or combination of the following: cameras, laser radar, millimeter wave radar. The data acquisition module 210 acquires environmental information by deploying cameras, laser radars or millimeter wave radars on the unloading area of the surface mine and the traveling path of the unloading vehicle, performs time synchronization processing on data of a multi-source heterogeneous sensor (i.e., a plurality of cameras, laser radars or millimeter wave radars are sensors with different sources and different structures), synchronizes all data with time, performs spatial calibration alignment (e.g., image alignment, splicing and the like) on the acquired data to realize spatial synchronization, and in addition, can also perform preprocessing work such as filtering, cleaning and the like on the acquired data, and sends the processed data to the environmental monitoring module 220 to improve the accuracy of the data. The communication module 230 standardized codes, compresses, encapsulates, and then distributes the environment monitoring data and the system monitoring data to the central management apparatus 300.
In an embodiment, as shown in fig. 2, the environment monitoring module 220 may specifically include a parking space full monitoring unit 221, a road surface quality monitoring unit 222, a terrain management unit 223, and a traffic flow monitoring unit 224, where the parking space full monitoring unit 221, the road surface quality monitoring unit 222, the terrain management unit 223, and the traffic flow monitoring unit 224 are respectively in communication connection with the data acquisition module 210, and are configured to respectively obtain parking space full information, road surface quality information, terrain information, and traffic flow information according to the environment data. The environment monitoring module 220 performs functions of unloading space empty and full monitoring, road surface quality monitoring, unloading area terrain management, unloading area traffic flow monitoring and the like by using data returned by the data acquisition module 210, and sends an environment detection result to the communication module 230.
The parking space empty and full monitoring unit 221 monitors whether there is an obstacle or a scattered material in the parking space where the material is unloaded in the unloading area in real time, and outputs the parking space empty information based on the obstacle or the scattered material. In the unloading process of the mine car, the parking intentions of the other side cannot be obtained among the unloading vehicles, so that the conflict is easily caused; if the parking space selection is carried out only when the vehicle arrives at the unloading area, a certain time delay is needed, and the site congestion is easily caused. Therefore, the parking space empty and full monitoring unit 221 is used for monitoring the empty and full condition of the unloading parking space in real time, the cloud vehicle dispatching center is assisted to realize the ordered dispatching of unmanned unloading vehicles, and the full-flow operation is realized.
The road surface of the unloading area of the surface mine is easy to cause serious uneven road surface along with the unloading, the running of heavy engineering machinery and the like, and the safety of an unmanned unloading vehicle is seriously influenced, so the road surface flatness is monitored by the road surface quality monitoring unit 222, and the field bulldozer is coordinated to repair in real time. In addition, the mining area roads are easy to have the problems of large rockfall, road surface collapse, parking retaining wall collapse and the like, and the conditions of the road surface also need to be monitored in real time to coordinate vehicles to repair the roads in time. The quality of the road surface in the unloading area is monitored in real time by using the edge monitoring terminal, vehicles such as a bulldozer and the like are assisted to be dispatched to repair the road surface, and the safety of unmanned driving is further improved. Specifically, the road surface quality monitoring unit 222 analyzes scene video stream information and point cloud stream information by using a neural network technology, a time sequence point cloud difference technology and the like, judges a road surface rockfall area and a landslide area by using a threshold filtering and historical data matching analysis technology, and calculates a travelable area of an unloading area by using the information for vehicle path planning.
In one embodiment, the terrain management unit 223 compares the terrain information collected in real time with the map information to obtain the terrain variation information of the unloading area of the surface mine, and sends the terrain variation information to the map management device 100 to update the map information. The terrain management unit 223 is further used for collecting terrain data of the unloading area in real time and distributing the terrain data to the map management device 100 so as to assist in completing a map updating task of the unloading area. Specifically, the terrain management unit 223 combines the terrain information of the unloading area transmitted by the high-precision map module with the point cloud map of the unloading area acquired in real time, and calculates the change condition of the terrain information of the unloading area, so as to update the terrain information of the unloading area to the high-precision map in the following process.
The traffic flow monitoring unit 224 is further used for monitoring the traffic flow of the unloading area in real time, and the cloud vehicle dispatching center is assisted to reasonably arrange loading and unloading tasks of the vehicles, so that the production efficiency of the surface mine operation is improved. The traffic flow monitoring unit 224 monitors traffic flow changes of the unloading area in real time, collects a large amount of operation data to construct an unloading area traffic flow model, and assists the cloud scheduling module to efficiently perform vehicle scheduling management.
In an embodiment, as shown in fig. 2, the edge monitoring terminal 200 may further include: the system running state monitoring module 240, the system running state monitoring module 240 is in communication connection with the data acquisition module 210 and the environment monitoring module 220, and is used for monitoring the working states of the data acquisition module 210 and the environment monitoring module 220. The system operation state monitoring module 240 needs to monitor the working states of the sensors of the data acquisition module 210 and the environment monitoring module 220 in real time, and send the monitoring results back to the central management device 300 through the communication module 230.
In an embodiment, as shown in fig. 2, the edge monitoring terminal 200 may further include: a system infrastructure module 250, the system infrastructure module 250 configured to support the operation of the data collection module 210 and the environmental monitoring module 220. Specifically, the system infrastructure module 250 may include: a power supply device and an installation platform; the power supply device is used for providing electric energy for the data acquisition module 210 and the environment monitoring module 220, and the mounting platform is used for fixedly mounting the data acquisition module 210 and the environment monitoring module 220.
The system infrastructure module 250 provides the hardware platform required for monitoring, including the installation platform required for power supply equipment, sensors, and computing equipment. To meet the requirements of data acquisition in mine environments, the system infrastructure module 250 needs to include but not be limited to a set of stable power supply equipment, specifically including but not limited to solar power supply, commercial power, generators, etc., and considering the harsh environment of a mining area and the frequent change of unloading areas, using solar power supply is a more convenient, clean, and low-cost option.
In an embodiment, the central management device 300 is located in the cloud, the central management device 300 sends the analysis data to the cloud vehicle dispatching center to assist dispatching and management of the unloading vehicle, and the central management device 300 monitors and manages the edge monitoring terminal 200. The central management device 300 is located at the cloud and is responsible for receiving and analyzing the environmental monitoring information and the system monitoring information issued by all the edge monitoring terminals 200 in the mining area. The central management device 300 fuses all the received environment monitoring information, and sends the fused environment information (including the situation of full parking space, the situation of driving area, the situation of traffic flow, etc.) to the cloud vehicle dispatching center for the dispatching vehicle to operate efficiently. On the other hand, the central management device 300 sends the terrain update information to the map management device 100 for the map management device to update the map information, so as to ensure the real-time performance and the validity of the map. The central management device 300 collects the system monitoring information of the edge monitoring terminal 200 and enters a log system, and displays the health status of each sub-module of the edge monitoring terminal 200 in real time. Furthermore. The central management device 300 also supports real-time configuration of parameters of each edge monitoring terminal 200, and implements remote management and update of the edge monitoring terminals 200.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention are included in the present invention.
Claims (10)
1. An automatic management system for an unloading area of a surface mine, comprising:
a map management device for updating map information of the surface mine unloading area and providing the map information to an unloading vehicle;
the edge monitoring terminal is arranged in the surface mine unloading area and on the running path of the unloading vehicle and is used for acquiring the environmental information of the surface mine unloading area in real time and analyzing the environmental information to obtain analysis data; and
and the central management device is in communication connection with the map management device and the edge monitoring terminal and is used for assisting the scheduling management of the unloading vehicle according to the analysis data, generating map updating information according to the environment information and sending the map updating information to the map management device.
2. The system of claim 1, wherein the edge monitoring terminals are included in a plurality and are respectively located in a plurality of unloading areas of the surface mine to respectively collect and analyze environmental information of the plurality of unloading areas.
3. The system for automatically managing an unloading area of a surface mine of claim 1, wherein the edge monitoring terminal comprises:
the data acquisition modules comprise a plurality of data acquisition modules, are distributed on the unloading area of the surface mine and the running path of the unloading vehicle, and are used for acquiring the environmental data of each data acquisition point;
the environment monitoring module is in communication connection with the data acquisition module and is used for obtaining the analysis data according to the environment data acquired by the data acquisition module; and
and the communication module is in communication connection with the environment monitoring module and the central management device and is used for sending the analysis data to the central management device.
4. The automatic management system for the unloading area of the surface mine according to claim 3, wherein the environment monitoring module comprises a parking space full monitoring unit, a road surface quality monitoring unit, a terrain management unit and a traffic flow monitoring unit, and the parking space full monitoring unit, the road surface quality monitoring unit, the terrain management unit and the traffic flow monitoring unit are respectively in communication connection with the data acquisition module and are used for respectively obtaining parking space full information, road surface quality information, terrain information and traffic flow information according to the environment data.
5. The automatic management system of a surface mine unloading area of claim 3, wherein the data acquisition module comprises any one or a combination of: cameras, laser radar, millimeter wave radar.
6. The automatic management system of a surface mine unloading area of claim 3, wherein the edge monitoring terminal further comprises:
the system running state monitoring module is in communication connection with the data acquisition module and the environment monitoring module and is used for monitoring the working states of the data acquisition module and the environment monitoring module.
7. The automatic management system of a surface mine unloading area of claim 3, wherein the edge monitoring terminal further comprises:
and the system infrastructure module is used for supporting the work of the data acquisition module and the environment monitoring module.
8. The automatic management system for an unloading area of a surface mine of claim 7, wherein the system infrastructure module comprises: a power supply device and an installation platform; the power supply equipment is used for providing electric energy for the data acquisition module and the environment monitoring module, and the mounting platform is used for fixedly mounting the data acquisition module and the environment monitoring module.
9. The automatic management system for an unloading area of a surface mine according to claim 4, wherein the terrain management unit compares terrain information collected in real time with the map information to obtain terrain variation information for the unloading area of the surface mine, and sends the terrain variation information to the map management device to update the map information.
10. The automatic management system for an unloading area of a surface mine of claim 1, wherein the central management device is located in a cloud, the central management device transmits the analysis data to a cloud vehicle dispatching center to assist in dispatching management of the unloading vehicles, and the central management device monitors and manages the edge monitoring terminals.
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| CN115409293A (en) * | 2022-10-31 | 2022-11-29 | 宁波长壁流体动力科技有限公司 | Digital twin-based intelligent mine management and control method and management and control facility |
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