CN115963820A - Wisdom mine system - Google Patents
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Abstract
The invention discloses an intelligent mine system, which comprises: an intelligent scheduling subsystem; the intelligent mine operation vehicle is provided with a vehicle body and an automatic driving subsystem, and the intelligent scheduling subsystem is used for judging whether a driving route to be determined is feasible or not; the automatic driving subsystem is used for uploading a self-planned driving route to be determined to the intelligent scheduling subsystem after receiving an initial scheduling instruction of the intelligent scheduling subsystem in an unmanned driving mode, feeding vehicle related information back to the intelligent scheduling subsystem in real time after receiving a final scheduling instruction, interacting with automatic driving subsystems of other intelligent mine operation vehicles, driving according to the feasible driving route, and switching to a remote driving mode controlled by the intelligent scheduling subsystem after the intelligent mine operation vehicle reaches a preset operation area and receives an operation instruction. The intelligent mine automatic driving and remote driving system can realize efficient cooperation of intelligent mine automatic driving and remote driving operation.
Description
Technical Field
The invention relates to the field of intelligent mines, in particular to an intelligent mine system based on cooperative operation of automatic driving and remote driving of intelligent internet carrying equipment.
Background
In recent years, subversion is brought to many traditional industries. The intelligent mine is provided and rapidly developed under the background, since 2016, various policy documents issued by departments such as national development and reform committee, national energy agency and the like in succession also provide new guidance requirements for mine automation, informatization, digitization and intellectualization, and meanwhile, the operation cost of mine enterprises is high and is difficult to control, including the labor cost, the tire wear cost and the fuel consumption cost; the safety risk is high, the mine enterprises belong to the accident-prone industry all the time, the mine enterprises are difficult to recruit in recent years, and the phenomenon is further aggravated along with the aging of the population; the working efficiency is low, and the unreasonable allocation and planning cause that the working efficiency of mining vehicles is not high, so that the construction of an intelligent mine is a necessary trend and direction of the future mining industry.
The intelligent mine promotes the comprehensive application of new generation network information technologies such as cloud computing, big data, internet of things, artificial intelligence, mobile communication and the like in the mine field on the basis of mine automation, informatization and digitization, generally consists of a scheduling system, a sensing system, a decision-making system, a control system and an execution system, and achieves unmanned driving, intelligent scheduling and remote control of mine vehicles through environment sensing, decision-making planning and intelligent control, so that various mine area operations are completed.
In summary, the problems to be solved in the current intelligent mine construction mainly include: 1) The efficiency of cooperative work among various mining vehicles is low; 2) The organization and architecture of the intelligent mine system are redundant, and the division of labor of each subsystem of a mining area is unclear.
Disclosure of Invention
It is an object of the present invention to provide a smart mine system that overcomes or at least mitigates at least one of the above-mentioned disadvantages of the prior art.
To achieve the above object, the present invention provides an intelligent mine system, which includes:
the intelligent scheduling subsystem is used for sending a scheduling instruction, an initial scheduling instruction, a final scheduling instruction and a job instruction according to the tasks;
the intelligent mine operation vehicle is provided with a vehicle body and an automatic driving subsystem arranged on the vehicle body, wherein the automatic driving subsystem uploads vehicle state information and collected environment information to the intelligent scheduling subsystem in real time through a vehicle-ground wireless communication device;
the intelligent scheduling subsystem is further used for uploading the collected environment information in real time by combining an intelligent road side unit on the driving route to be determined according to the driving route to be determined, judging whether the driving route to be determined is feasible or not, if so, transmitting a final scheduling instruction to the corresponding automatic driving subsystem, and if not, transmitting the updated environment information to the automatic driving subsystem until the driving route to be determined is feasible within a preset judgment frequency range;
the automatic driving subsystem is used for uploading a self-planned driving route to be determined to the intelligent scheduling subsystem after receiving an initial scheduling instruction of the intelligent scheduling subsystem in an unmanned driving mode, feeding vehicle related information back to the intelligent scheduling subsystem in real time after receiving a final scheduling instruction, interacting with automatic driving subsystem information of other intelligent mine operation vehicles, driving according to a feasible driving route, enabling the intelligent mine operation vehicles to reach a preset operation area, and switching to a remote driving mode controlled by the intelligent scheduling subsystem after receiving the operation instruction.
Further, intelligence mine operation car includes mining dump truck and electric shovel, and the task specifically includes for loading:
step a1, queuing and loading: the mining dump truck sends an inquiry signal for judging whether to allow the mining dump truck to enter to the intelligent dispatching subsystem at the entrance of the loading area, the intelligent dispatching subsystem judges whether to allow the mining dump truck to enter according to the mineral aggregate condition of the loading area, and if not, the mining dump truck continues to wait in situ; if so, driving the mining dump truck into a stoppable loading area;
step a2, cooperative loading: after the mining dump truck sends a signal of being in place to the electric shovel, the mining dump truck and the electric shovel are switched to a remote driving mode to carry out cooperative loading operation;
the cooperative loading operation method specifically comprises the following steps:
the electric shovel drives to the position of the mineral aggregate according to the operation instruction to carry out mining operation, and meanwhile, the positioning information is sent to a mining dump truck;
according to the operation instruction and the positioning information of the electric shovel, the mining dump truck acquires the position state of a bucket of the electric shovel and solves the position of a terminal target and the state information of the mining dump truck according to a sensor detection algorithm, the intelligent dispatching subsystem controls the truck to go to a destination and adjusts the position and the posture of the mining dump truck, and the loading of the electric shovel is matched.
Further, intelligence mine operation car still includes the bull-dozer, and the task is the uninstallation, and it specifically includes:
b1, driving the fully loaded mining dump truck to an entrance of an unloading area, sending an inquiry signal for judging whether the mining dump truck is allowed to drive in to an intelligent scheduling subsystem, if not, continuing to wait in situ by the mining dump truck, and switching a bulldozer to a remote driving mode to clean the road surface of the unloading area after receiving scheduling information; if so, driving the mining dump truck into a stoppable unloading area;
and b2, after the mining dump truck sends a positioned signal to the intelligent dispatching subsystem, the mining dump truck is switched to a remote driving mode to unload the mineral aggregate.
Further, intelligence mine operation car still includes bull-dozer and excavator, and the task is road surface trimming, and it specifically includes:
the automatic driving subsystem of the intelligent mine working vehicle in the working state obtains the obstacle information according to the acquired environmental information, and the following operations are carried out according to the obstacle information and the obstacle types:
type1: if the obstacle category is an obstacle which can be bypassed and does not need to be processed, the following operations are carried out:
step c1, the automatic driving subsystem plans a corresponding detour path;
step c2, checking whether the sensor original data storage function of the automatic driving subsystem is in an opening state, and if so, marking the sensor original data storage function as a pause state; otherwise, entering step c3;
step c3, checking whether the original data storage function of the sensor is in a pause state; if yes, go to step c4; otherwise, no processing is carried out;
step c4, judging whether the pause duration of the original data storage function of the sensor exceeds the preset time, if so, marking the function as an end state; otherwise, the function is still marked as a paused state;
type2: judging whether the original data storage function of the sensor is started or not if the obstacle type is a barrier which can bypass and needs to be processed, if so, continuously storing the original data of the vehicle-mounted camera in the original data of the sensor, and if not, starting the original data storage function of the sensor;
type3: if the type of the obstacle is an obstacle which cannot be bypassed, the intelligent mine operation vehicle immediately stops, and an automatic driving subsystem of the intelligent mine operation vehicle sends a request signal for road surface finishing to an intelligent scheduling subsystem;
after receiving the request signal, the intelligent scheduling subsystem sends the following road finishing scheme according to the positioning information, the mine area map information, the obstacle information and the actual road condition of the intelligent mine working vehicle:
scheme 1: if the bulldozer can finish trimming independently, the intelligent scheduling subsystem determines whether an idle bulldozer exists at present, and if so, a final scheduling instruction is sent to the corresponding bulldozer; otherwise, the intelligent scheduling subsystem waits for the bulldozer in the idle state in the bulldozer queue which enters the working state to be allocated;
scheme 2: if the situation that the bulldozer and the excavator need to cooperate to finish trimming is judged, the intelligent scheduling subsystem determines whether the bulldozer and the excavator exist at present, and if so, a final scheduling instruction is sent to the corresponding bulldozer and the corresponding excavator; otherwise, waiting until an idle bulldozer and an idle excavator exist;
and the bulldozer or the bulldozer and the excavator receives the final dispatching command, drives to a road surface finishing operation place, sends a remote operation request signal to the dispatchable subsystem, and switches to a remote driving mode to carry out road surface finishing after receiving the operation command.
Furthermore, the intelligent scheduling subsystem is also used for sending an emergency braking instruction; and the automatic driving subsystem is switched to a remote driving mode after receiving the emergency braking instruction.
And the intelligent scheduling subsystem is further used for judging whether the driving route to be determined has interference or not according to the driving route to be determined, if so, the intelligent scheduling subsystem re-plans the driving route for the intelligent mine operation vehicle with the path conflict, and sends the re-planned driving route to the corresponding intelligent mine operation vehicle as a feasible driving route.
Furthermore, the intelligent scheduling subsystem is also used for sending out an area deceleration instruction and an area emergency stop instruction; after the intelligent scheduling subsystem receives the abnormal condition of the vehicle, the intelligent road side unit sends a region speed reduction instruction or a region emergency stop instruction to the corresponding automatic driving subsystem.
According to the intelligent automatic driving and remote driving system, the automatic driving operation efficiency and the remote driving operation efficiency under different scenes, different equipment and different operation tasks of a mine are comprehensively considered, and the unmanned mode and the remote driving mode are flexibly switched, so that the labor intensity of mine workers can be greatly reduced, the safety risk of the mine is reduced, the working efficiency is improved, the intelligent and unmanned rapid development of the mine is promoted, and the efficient cooperation of intelligent mine automatic driving and remote driving operation is realized.
Drawings
Fig. 1 is a schematic diagram of an overall architecture of a smart mine system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an unmanned operation mode of the smart mine system according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a remote driving operation mode of the intelligent mine system according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of an operation example of the intelligent mine system according to the embodiment of the invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
As shown in fig. 1 to 4, the intelligent mine system provided by the embodiment of the present invention includes an intelligent dispatching subsystem 1 and an intelligent mine operation vehicle 2, wherein:
the intelligent scheduling subsystem 1 is used as a central pivot of the intelligent mine system and used for sending a scheduling instruction, an initial scheduling instruction, a final scheduling instruction and an operation instruction according to tasks. The intelligent mine operation vehicle 2 is monitored in real time and coordinated in conflict through operation state monitoring and collaborative planning and scheduling, so that the stability, safety and high efficiency of the whole mine system are guaranteed. The dispatching instructions comprise departure dispatching, receiving dispatching, unloading dispatching, loading dispatching, refueling dispatching, one-way road coordination, path coordination, regional deceleration, regional scram, single-vehicle scram and the like.
The intelligent mine working vehicle 2 includes a vehicle body and an automatic driving subsystem 21 provided in the vehicle body. The intelligent mine working vehicle 2 normally operates in the unmanned mode by its autonomous driving subsystem 21.
Specifically, the automatic driving subsystem 21 includes a vehicle sensing module, a vehicle positioning module, a vehicle decision module, a vehicle control module and a vehicle communication module, wherein: the vehicle-mounted sensing module is used for acquiring vehicle state information and acquired environment information, and specifically comprises sensor raw data such as a camera, a laser radar and a millimeter wave radar. The vehicle-mounted positioning module is used for acquiring vehicle position information. The vehicle-mounted decision module is used for planning a driving route. The vehicle-mounted control module controls the vehicle body to move, and the vehicle can normally run to a loading point and an unloading point and complete functions of tracking transportation and the like. For example, when the automatic driving subsystem 21 carries out tracking transportation, the vehicle-mounted positioning module acquires the position information thereof, and plans the driving path according to the information of the starting point and the ending point and the geographical environment condition of the loading area. The vehicle sensing module acquires surrounding environment information in real time, and the vehicle control module comprises a travelable area, barrier information and the like and adjusts the vehicle traveling speed and the vehicle traveling direction in real time so as to control the vehicle body to move to the target position and complete tracking transportation.
The automatic driving subsystem 21 uploads the vehicle state information and the collected environment information to the intelligent scheduling subsystem 1 in real time through the vehicle-ground wireless communication device 3. The intelligent scheduling subsystem 1 is further configured to, according to the driving route to be determined, upload the acquired environment information in real time by combining the intelligent road side unit 4 on the driving route to be determined, determine whether the driving route to be determined is feasible, if yes, transmit the final scheduling instruction to the corresponding automatic driving subsystem 21, and if not, transmit the updated environment information to the automatic driving subsystem 21 until the driving route to be determined is feasible within the preset determination frequency range. Therefore, the intelligent mine operation vehicle 2 can be ensured not to exceed the road boundary or collide with the obstacle in the driving process.
If the situation is not the same as the situation that the driving route to be determined is unreasonable but can be corrected, and if the situation is the unreasonable and cannot be corrected, the background sends the updated environmental information such as the map to the intelligent mine operation vehicle 2, and the intelligent scheduling subsystem 1 performs path planning again. If the intelligent mine operation vehicle is the latter, the intelligent scheduling subsystem 1 sends a take-over signal to the intelligent mine operation vehicle 2 according to actual conditions, the intelligent mine operation vehicle 2 adjusts the automatic driving grade according to the signal, and the intelligent scheduling subsystem 1 artificially controls the intelligent mine operation vehicle 2 to travel to a loading area.
The vehicle body may be controlled solely by the autopilot subsystem 21 in the unmanned mode. The vehicle body can also be controlled by the intelligent dispatching subsystem 1 and is switched into a remote driving mode controlled by the intelligent dispatching subsystem 1, so that the automation and the intellectualization in a mining area are realized, and the all-weather efficient operation is realized.
In view of this, the automatic driving subsystem 21 can upload a self-planned driving route to be determined to the intelligent scheduling subsystem 1 after receiving an initial scheduling instruction of the intelligent scheduling subsystem 1 in the unmanned mode, and feed vehicle-related information back to the intelligent scheduling subsystem 1 in real time after receiving a final scheduling instruction, interact with the automatic driving subsystem 21 of the other intelligent mine working vehicle 2, and drive according to a feasible driving route, and then switch to a remote driving mode controlled by the intelligent scheduling subsystem 1 when the intelligent mine working vehicle 2 reaches a preset working area and receives a working instruction. The intelligent mine operation vehicle 2 enters a remote driving mode and is matched with other intelligent mine operation vehicles 2 to complete corresponding operation.
Compared with the prior art, the intelligent mine system provided by the embodiment comprehensively considers the characteristics of the mine environment, and provides a mode of combining the automatic driving subsystem 21 and the intelligent scheduling subsystem 1 according to the characteristics of working vehicles and software and hardware technologies, so that two working conditions of an unmanned driving mode and a remote driving mode are designed for most of the intelligent mine operation vehicles 2, and under the conventional state, the intelligent mine system integrally and efficiently operates in the unmanned driving mode, so that manpower and material resources are saved, the intelligent scheduling subsystem 1 can be switched to the remote driving mode at any time in case of emergency, and manual control over the vehicles is realized by the carrying equipment remote control device, so that the intelligent mine operation vehicles 2 can be flexibly switched between the unmanned driving mode and the remote driving mode and preferentially operate in the unmanned driving mode, the flexibility and the stability of mine operation are improved, the two modes can be independently operated and efficiently combined, the defect of insufficient efficiency caused by a single working mode can be overcome, and the safety problem caused by mutual coupling of the two working modes can be solved.
In one embodiment, the intelligent mining work vehicle 2 includes a mining dump truck a and an electric shovel B, and the task is loading, which specifically includes:
step a1, queuing and loading: the mining dump truck A travels to the entrance of the loading area in an unmanned mode, queues up for loading mineral aggregates, and sends an inquiry signal for judging whether to allow the mining dump truck A to travel into the intelligent scheduling subsystem 1, the intelligent scheduling subsystem 1 judges whether to allow the mining dump truck A to travel into the intelligent scheduling subsystem according to the situation of the mineral aggregates in the loading area, and if not, the mining dump truck A continues to wait in situ; if so, the mining dump truck a drives into the stoppable stowage area. Otherwise, continuing to wait in situ until receiving the signal of allowing the drive-in. The "loading area mineral aggregate condition" refers to the condition that the quantity of stockpiles and the quantity and the traveling path of the mining dump truck are reasonably arranged at the stockpiling position.
Step a2, cooperative loading: after the mining dump truck A sends a signal of being in place to the electric shovel B, the mining dump truck A and the electric shovel B are switched to a remote driving mode to carry out cooperative loading operation.
And when the loading of the mining dump truck A is finished, driving away from the loading area according to the set route, and repeating the process for the next mining dump truck A.
In the above embodiment, the cooperative loading operation method specifically includes:
and the electric shovel B drives to the position of the mineral aggregate according to the operation instruction to carry out mining operation, meanwhile, the positioning information is sent to the mining dump truck A, the unmanned driving mode is switched to the remote driving mode, and the background personnel adopt the intelligent scheduling subsystem 1 to control the electric shovel to drive to the position of the mineral aggregate in the remote driving mode to carry out mining operation.
The mining dump truck A acquires the position state of a bucket of the electric shovel B and solves the end point target position and self state information according to the operation instruction and the positioning information of the electric shovel B and a sensor detection algorithm, and the intelligent scheduling subsystem 11 controls the truck to go to a destination and adjusts the self pose to match with the loading of the electric shovel B.
In one embodiment, the intelligent mine working vehicle 2 further comprises a bulldozer C, and the task is unloading, which specifically comprises:
b1, driving the fully loaded mining dump truck A to an entrance of an unloading area, queuing for unloading mineral aggregate, sending an inquiry signal for judging whether the mining dump truck A allows to drive in to the intelligent scheduling subsystem 1, if not, continuing to wait in situ, and switching a bulldozer C to a remote driving mode to clean the road surface of the unloading area after receiving scheduling information; if so, the mining dump truck A drives into the stoppable unloading area. Otherwise, the intelligent scheduling subsystem 1 directly controls the bulldozer C to clean the environment of the unloading area until the environment allows the mining dump truck A to drive in. Wherein, the driving permission signal sent by the intelligent scheduling subsystem 1 is generally controlled by human.
And b2, after the mining dump truck A sends a signal of being in place to the intelligent dispatching subsystem 1, the mining dump truck A is switched to a remote driving mode, the background artificially controls the bulldozer to push the mineral aggregate scattered around the mineral aggregate stacking area into the mineral aggregate stacking area through the intelligent dispatching subsystem 1, and meanwhile, the road surface of the unloading area is cleaned, so that the next mining dump truck can conveniently drive in and unload.
In one embodiment, the intelligent mining work vehicle 2 further comprises a bulldozer D and an excavator E, and the task is road finishing, which specifically comprises:
the automatic driving subsystem 21 of the intelligent mine working vehicle 2 in the working state obtains the obstacle information according to the acquired environmental information, and performs the following operations according to the obstacle type of the obstacle information:
type1: if the obstacle category is an obstacle which can be bypassed and does not need to be processed, the following operations are carried out:
step c1, the automatic driving subsystem 21 plans a corresponding detour path;
step c2, checking whether the sensor raw data storage function of the automatic driving subsystem 21 is in an open state, and if so, marking the sensor raw data storage function as a pause state; otherwise, entering step c3;
step c3, checking whether the original data storage function of the sensor is in a pause state; if yes, go to step c4; otherwise, no processing is carried out;
step c4, judging whether the pause duration of the original data storage function of the sensor exceeds the preset time (for example, 3 frames), and if so, marking the function as an end state; otherwise, the function is still marked as paused.
Type2: the obstacle category is an obstacle that can be bypassed and needs to be handled, for example: when it is found that there are rockfall, pits, bumps, and other obstacles with a volume size not exceeding one cubic meter in the surrounding pavement, it is considered an obstacle that can bypass and needs to be treated. And when the obstacle type is the obstacle which can bypass and needs to be processed, judging whether the original data storage function of the sensor is started, if so, continuously storing the original data of the vehicle-mounted camera, and if not, starting the original data storage function of the sensor.
Type3: if the obstacle type is an obstacle that cannot be bypassed, the intelligent mine working vehicle 2 stops immediately, and the automatic driving subsystem 21 transmits a request signal for road surface dressing to the intelligent scheduling subsystem 1.
After receiving the request signal, the intelligent scheduling subsystem 1 determines nearby intelligent road side units according to the positioning information and the mine area map information of the intelligent mine operation vehicle 2, and if the intelligent road side units capable of providing an obvious obstacle observation picture exist, the intelligent scheduling subsystem calls a monitoring picture of the intelligent road side units; if the intelligent road side unit which can provide an obviously observed barrier picture does not exist, picture information stored by the vehicle-mounted sensing module of the mining dump truck is obtained for analysis; and then background personnel send the following road finishing scheme according to the obstacle information and the actual road condition:
scheme 1: if the obstacle is compact and single as a whole and has a small size, the bulldozer can finish trimming independently, the intelligent scheduling subsystem 1 determines whether an idle bulldozer D exists currently, and if so, a final scheduling instruction is sent to the corresponding bulldozer D; otherwise, the intelligent scheduling subsystem waits for the bulldozer in the idle state to be in the queue of the bulldozers which have already entered the working state, and then performs allocation.
Scheme 2: if the obstacles are scattered, have large volume and are difficult to move, the situation that the trimming is finished by the cooperation of the bulldozer D and the excavator E is judged to be needed, the intelligent scheduling subsystem 1 determines whether the idle bulldozer D and the excavator E exist at present, and if the idle bulldozer D and the excavator E exist, a final scheduling instruction is sent to the corresponding bulldozer D and the corresponding excavator E; otherwise, waiting for the bulldozer D and the excavator E to finish corresponding work and then receiving a dispatching instruction to go to the destination until the bulldozer D and the excavator E are free.
And the bulldozer D or the bulldozer D and the excavator E receive the final dispatching command, drive to a road surface finishing operation place, send a remote operation request signal to the dispatchable subsystem 2, and switch to a remote driving mode to carry out road surface finishing after receiving the operation command.
If only the bulldozer D receives the scheduling command and goes to the operation place, the intelligent scheduling subsystem 1 remotely controls the bulldozer D to operate; if the bulldozer D and the excavator E receive the dispatching instruction together and go to the operation place, the intelligent dispatching subsystem 1 remotely controls the bulldozer D and the excavator E to cooperatively finish the road surface finishing operation; in the operation process, the intelligent scheduling subsystem 1 judges whether the area is a global passable area according to the surrounding environment and the road condition of the area, judges whether the surrounding road environment is narrow and difficult to pass or the operation process is complicated after being occupied by the intelligent mine operation vehicle 2 according to the basis, the construction range is large, if not, the area is marked as a global impassable area in the high-precision map, if so, the area is marked as the global passable area in the high-precision map, and meanwhile, the updated high-precision map is transmitted to the intelligent mine operation vehicle 2 with an unmanned driving mode through a vehicle-ground wireless communication system, so that the area is not taken as the consideration range of path planning in the subsequent planning process of the vehicle. After the operation is finished, the intelligent mine operation vehicle 2 is switched to the unmanned driving mode again, then the intelligent mine operation vehicle goes to the waste material area to process the cleared obstacles, then a signal is sent to the intelligent scheduling subsystem 1, and the intelligent scheduling subsystem arranges the intelligent mine operation vehicle 2 to advance to the next operation point or parking point according to the situation.
In one embodiment, the intelligent scheduling subsystem 1 is further configured to issue an emergency braking command; the autonomous driving subsystem 21 switches to the remote driving mode upon receiving an emergency braking command. If the intelligent mine operation vehicle 2 encounters an emergency in the unmanned driving process, the unmanned driving mode cannot be continuously adopted due to road blockage, severe weather, temporary vehicle failure or other adverse safety factors, and the two situations are embodied, wherein firstly, the software and hardware of the vehicle break down, and secondly, the vehicle cannot calculate the next working state of the vehicle according to the environmental condition of the target, an emergency braking signal is sent to the intelligent road side unit 4 by the intelligent scheduling subsystem 1 through a background, and the intelligent road side unit 4 immediately transmits the signal to the intelligent mine operation vehicle 2. After the intelligent mine operation vehicle 2 receives the signal, the intelligent mine operation vehicle 2 is switched to a remote driving mode, the vehicle-mounted emergency braking module is started by the background, and the vehicle is immediately braked, so that one-key emergency stop is realized.
In one embodiment, a plurality of intelligent mine working vehicles may travel to a destination at the same time, paths of the intelligent mine working vehicles may interfere with each other, but the paths are planned respectively only by considering the conditions of the intelligent mine working vehicles, so that problems exist, and the intelligent mine working vehicles need to be coordinated uniformly by a background to confirm the primary and the secondary. Therefore, the intelligent scheduling subsystem 1 of this embodiment is further configured to determine whether the driving route to be determined has interference according to the driving route to be determined, and if so, reschedule the driving route for the intelligent mine working vehicle 2 having the path conflict by the intelligent scheduling subsystem 1, and send the rescheduled driving route to the corresponding intelligent mine working vehicle 2 as a feasible driving route.
In one embodiment, the intelligent scheduling subsystem 1 is further configured to issue a zone deceleration instruction and a zone scram instruction; after receiving abnormal conditions of the vehicle, such as insufficient oil supply, insufficient tire pressure and other vehicle states, the intelligent scheduling subsystem 1 performs abnormal control; vehicle hardware damage such as brake failure, chassis instability, signal lamp failure and the like; vehicle software faults such as unstable signal reception and automatic driving program breakdown; the mining dump truck does not adjust the road condition in time due to the failure of the sensor unit, the abnormality of the communication equipment and other vehicle external equipment faults, and the like, and the intelligent road side unit 4 sends a region speed reduction instruction or a region emergency stop instruction to the corresponding automatic driving subsystem 21, so that the running safety of the mining dump truck is ensured.
In one embodiment, the intelligent mine operation vehicle 2 further comprises an intelligent watering cart, the automatic driving subsystem 2 can also realize an automatic watering function, and the method specifically comprises the following steps:
the intelligence watering lorry is started at predetermined fixed time point, goes along fixed route tracking, and the dust fall of watering is carried out to the in-process of traveling, returns the starting point after the tracking finishes and puts down to wait for the next time to set out.
In one embodiment, the intelligent mine operation vehicle 2 finds an oil meter panel to warn during operation and displays that the oil quantity is insufficient, the intelligent mine operation vehicle 2 sends an oil quantity shortage signal to the intelligent scheduling subsystem 1, the intelligent scheduling subsystem 1 plans a driving path according to the positioning information of the intelligent mine operation vehicle 2 and the position of a gas station after receiving the signal and sends a scheduling instruction to the intelligent mine operation vehicle 2, and the intelligent mine operation vehicle 2 sends the signal to the gas station according to the specified path and queues up for refueling.
The intelligent mine system based on intelligent networking automobile cooperative operation provided by the invention is beneficial to promoting the progress of mine intellectualization and modernization, and realizes comprehensive upgrading of an intelligent mine industrial chain and further optimization of a production mode on the basis.
Finally, it should be pointed out that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it. Those of ordinary skill in the art will understand that: modifications can be made to the technical solutions described in the foregoing embodiments, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. An intelligent mine system, comprising:
the intelligent scheduling subsystem (1) is used for sending a scheduling instruction, an initial scheduling instruction, a final scheduling instruction and a job instruction according to the tasks;
the intelligent mine operation vehicle (2) is provided with a vehicle body and an automatic driving subsystem (21) arranged on the vehicle body, and the automatic driving subsystem (21) uploads vehicle state information and collected environment information to the intelligent scheduling subsystem (1) in real time through the vehicle-ground wireless communication device (3);
the intelligent scheduling subsystem (1) is further used for uploading collected environment information in real time according to the driving route to be determined by combining an intelligent road side unit (4) on the driving route to be determined, judging whether the driving route to be determined is feasible or not, if yes, transmitting a final scheduling instruction to the corresponding automatic driving subsystem (21), and if not, transmitting the updated environment information to the automatic driving subsystem (21) until the driving route to be determined is feasible within the range of preset judging times;
the automatic driving subsystem (21) is used for uploading a self-planned driving route to be determined to the intelligent scheduling subsystem (1) after receiving an initial scheduling instruction of the intelligent scheduling subsystem (1) in an unmanned mode, feeding vehicle related information back to the intelligent scheduling subsystem (1) in real time after receiving a final scheduling instruction, interacting the vehicle related information with the automatic driving subsystem (21) of other intelligent mine operation vehicles (2), driving according to a feasible driving route, and switching to a remote driving mode controlled by the intelligent scheduling subsystem (1) when the intelligent mine operation vehicles (2) reach a preset operation area and receive an operation instruction.
2. The intelligent mine system according to claim 1, wherein the intelligent mine working vehicle (2) comprises a mining dump truck (a) and an electric shovel (B), the mission being loading, which in particular comprises:
step a1, queuing and loading: the mining dump truck (A) sends an inquiry signal whether to allow the mining dump truck to enter to the intelligent dispatching subsystem (1) at the entrance of the loading area, the intelligent dispatching subsystem (1) judges whether to allow the mining dump truck (A) to enter according to the condition of mineral aggregates in the loading area, and if not, the mining dump truck (A) continues to wait in situ; if yes, the mining dump truck (A) drives into a stoppable loading area;
step a2, cooperative loading: after the mining dump truck (A) sends a positioned signal to the electric shovel (B), the mining dump truck (A) and the electric shovel (B) are switched to a remote driving mode to carry out cooperative loading operation;
the cooperative loading operation method specifically comprises the following steps:
the electric shovel (B) drives to the position of the mineral aggregate according to the operation instruction to carry out mining operation, and meanwhile, the positioning information is sent to the mining dump truck (A);
according to the operation instruction and the positioning information of the electric shovel (B), the mining dump truck (A) obtains the position state of a shovel bucket of the electric shovel (B) according to a sensor detection algorithm, solves the end point target position and the self state information, controls the vehicle to go to the destination and adjusts the self pose through an intelligent scheduling subsystem (21), and is matched with the electric shovel to load.
3. The intelligent mine system according to claim 1 or 2, wherein the intelligent mine working vehicle (2) further comprises a bulldozer (C) which is tasked with unloading, which comprises:
b1, driving the fully loaded mining dump truck (A) to an entrance of an unloading area, sending an inquiry signal for judging whether the mining dump truck (A) is allowed to drive in to the intelligent scheduling subsystem (1), if not, continuing to wait in situ, and switching a bulldozer (C) to a remote driving mode to clean the road surface of the unloading area after receiving scheduling information; if yes, the mining dump truck (A) drives into a stoppable unloading area;
and b2, after the mining dump truck (A) sends a signal of being in place to the intelligent dispatching subsystem (1), the mining dump truck (A) is switched to a remote driving mode to unload the mineral aggregate.
4. The intelligent mine system according to claim 3, wherein the intelligent mine working vehicle (2) further comprises a bulldozer (D) and an excavator (E), and the task is road finishing, which specifically comprises:
an automatic driving subsystem (21) of the intelligent mine working vehicle (2) in the working state obtains the obstacle information according to the collected environment information, and the following operations are carried out according to the obstacle information and the obstacle types:
type1: if the obstacle category is an obstacle which can be bypassed and does not need to be processed, the following operations are carried out:
step c1, an automatic driving subsystem (21) plans a corresponding detour path;
c2, checking whether the sensor original data storage function of the automatic driving subsystem (21) is in an opening state, and if so, marking the sensor original data storage function as a pause state; otherwise, entering step c3;
c3, checking whether the original data storage function of the sensor is in a pause state; if yes, go to step c4; otherwise, no processing is carried out;
step c4, judging whether the pause duration of the original data storage function of the sensor exceeds the preset time, if so, marking the function as an end state; otherwise, the function is still marked as paused;
type2: judging whether the original data storage function of the sensor is started or not if the obstacle type is a barrier which can bypass and needs to be processed, if so, continuously storing the original data of the vehicle-mounted camera in the original data of the sensor, and if not, starting the original data storage function of the sensor;
type3: if the type of the obstacle is an obstacle which cannot be bypassed, the intelligent mine operation vehicle (2) is immediately stopped, and an automatic driving subsystem (21) of the intelligent mine operation vehicle (2) sends a request signal for road surface finishing to the intelligent dispatching subsystem (1);
after receiving the request signal, the intelligent scheduling subsystem (1) sends the following road surface finishing scheme according to the positioning information, the mining area map information, the obstacle information and the actual road surface condition of the intelligent mine operation vehicle (2):
scheme 1: if the bulldozer can finish trimming independently, the intelligent scheduling subsystem (1) determines whether an idle bulldozer (D) exists currently, and if so, sends a final scheduling instruction to the corresponding bulldozer (D); otherwise, the intelligent scheduling subsystem waits for the bulldozer in the idle state in the bulldozer queue which enters the working state to be allocated;
scheme 2: if the situation that the bulldozer (D) and the excavator (E) need to cooperate to finish trimming is judged, the intelligent scheduling subsystem (1) determines whether the bulldozer (D) and the excavator (E) exist at present, and if so, sends a final scheduling instruction to the corresponding bulldozer (D) and the corresponding excavator (E); otherwise, waiting until an idle bulldozer (D) and an idle excavator (E) exist;
and the bulldozer (D) or the bulldozer (D) and the excavator (E) receive the final scheduling command, drive to a road surface finishing operation place, send a remote operation request signal to the schedulable subsystem (2), and switch to a remote driving mode to carry out road surface finishing after receiving the operation command.
5. The intelligent mine system according to claim 1, wherein the intelligent dispatching subsystem (1) is further configured to issue an emergency braking command; the autonomous driving subsystem (21) switches to a remote driving mode upon receiving an emergency braking command.
6. The intelligent mine system according to claim 1, wherein the intelligent scheduling subsystem (1) is further configured to determine whether the driving route to be determined is interfered according to the driving route to be determined, and if so, the intelligent scheduling subsystem (1) re-plans the driving route for the intelligent mine working vehicle (2) with the path conflict, and sends the re-planned driving route to the corresponding intelligent mine working vehicle (2) as the feasible driving route.
7. The intelligent mine system according to claim 1, wherein the intelligent dispatching subsystem (1) is further configured to issue a regional slowdown command and a regional scram command; after the intelligent scheduling subsystem (1) receives the abnormal condition of the vehicle, the intelligent road side unit (4) sends a region speed reduction command or a region sudden stop command to the corresponding automatic driving subsystem (21).
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