CN111784143B - Automatic ore transportation scheduling method and system - Google Patents
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Abstract
The invention discloses an automatic ore transportation scheduling method and system, which belong to the technical field of industrial and mining railway transportation monitoring, and comprise the following steps: recording shoveling record information of the current drop shaft, and calculating ore grade and capacity tracking curves of the drop shaft according to the shoveling record information; tracking and calculating ore grade and capacity tracking curves of the drop shafts, and generating a dispatching application when the ore capacity of the drop shafts exceeds a tolerance set value; according to the dispatching car application, generating a transportation operation path sequence according to the target ore grade yield; according to the transportation operation path sequence, automatic ore drawing control and locomotive driving control linkage are carried out in an ore drawing and loading area, and vehicle speed self-adaptive control of water spraying joint control is realized in an ore discharging area. The invention can realize unmanned operation of the ore 'shoveling, transporting and unloading' transportation system, so that an unmanned electric locomotive can safely and reliably bear unmanned transportation operation tasks.
Description
Technical Field
The invention relates to the technical field of industrial and mining railway transportation monitoring, in particular to an automatic ore transportation scheduling method and system.
Background
Currently, in the green mine construction climax of 'mechanical changing, automatic subtracting and intelligent unmanned', the industrial and mining railway 'track transportation unmanned' is being used as an important link of scientific and technological strong security actions, and the technology of remote control, intelligent dispatching and control of rail transportation, wireless communication and the like of the electric locomotive is strongly propelled. The related units relay out the rail transport electric locomotive with the remote control or full-automatic unmanned function, assist various matched means and gradually realize the remote control of underground transport equipment.
Aiming at the underground metal ore flow production process, the existing transportation scheduling model is basically aimed at a manual or remote control driving system, the signal safety control within the visual range of operators is relied on, and the dynamic safety parameter calculation of the multi-equipment cluster operation is also dependent on the general judgment behavior and the control behavior of people. The remote control or the intellectualization of single equipment can only be used as basic technical conditions, and the unmanned operation of a multi-equipment cluster of an ore mining and transportation system is needed to be realized.
Disclosure of Invention
The invention aims to overcome the defects existing in the prior art and realize unmanned operation of an ore transportation system.
In order to achieve the above purpose, the invention adopts an automatic ore transportation scheduling method, which comprises the following steps:
recording shoveling record information of the current drop shaft, and calculating ore grade and capacity tracking curves of the drop shaft according to the shoveling record information;
tracking and calculating ore grade and capacity tracking curves of the drop shafts, and generating a dispatching application when the ore capacity of the drop shafts exceeds a tolerance set value;
according to the dispatching car application, generating a transportation operation path sequence according to the target ore grade yield;
according to the transportation operation path sequence, automatic ore drawing control and locomotive driving control linkage are carried out in an ore drawing and loading area, and vehicle speed self-adaptive control of water spraying joint control is realized in an ore discharging area.
Further, the shoveling record information comprises the ore quantity C of each shoveling pass of the scraper j ＝[C 1 ,C 2 ,...,C n ]Grade P of shoveled ore Cj ＝[P C1 ,P C2 ,...,P Cn ]Shoveling destination panel slide number L i ＝[L 1 ,L 2 ,...,L m ]；
The generated ore grade and capacity tracking curveWherein j is the scraper number; t is t ij The carrying capacity of a plurality of carrying machines 1-j received by a No. i mining area drop shaft for a certain t time period; t is t ji For a certain t period, the number of times a certain j-number scraper is shoveled to an i-number mining area drop shaft is represented by x; t is t Li For several locomotives L in a certain t period 1 -L i Loading ores; t (T) Li For a certain trip L i Amount of ore transported by locomotive, P c For the amount of ore grade transported in this pass, P cj The grade content of the ore shoveled by the j-type scraper.
Further, according to the dispatching car application, generating a transportation operation path sequence according to the target ore grade yield, including:
according to the received dispatching request, dispatching tasks are distributed to the locomotives to be executed, and a certain locomotive operation task is granted;
the locomotive generates the information of the occupied pre-occupied route and the driving speed limit curve of the driving license according to the starting point of the position, the loading point and the unloading point of the locomotive and by combining with the real-time operation route of other vehicles.
Further, according to the transportation operation path sequence, in the ore drawing loading area, automatic ore drawing control and locomotive driving control linkage are performed, and in the ore discharging area, vehicle speed self-adaptive control of water spraying joint control is realized, and the method comprises the following steps:
according to the transport operation path sequence, vehicle autonomous dispatching is executed, an electric locomotive is automatically controlled to reach an ore drawing and loading operation area of the drop shaft, the electric locomotive is aligned with the drop shaft, and the electric locomotive is automatically linked with the ore drawing machine;
in the ore discharging area, the electric locomotive is controlled to realize water spraying joint control and vehicle speed self-adaptive control, and the electric locomotive passes through the ore discharging area according to certain speed inertia.
Further, according to the received dispatching request, dispatching task allocation is performed on the locomotive to be executed, and a certain locomotive operation task is granted, including:
obtaining operation priority according to ore grade and capacity tracking curves of each mining area drop shaft and loading and unloading fatigue of each locomotive;
and according to the received dispatching request, dispatching tasks are distributed to the locomotives to be executed according to the operation priority, and a certain locomotive operation task is granted.
Further, the fatigue and the priority are agreed as follows:
under the condition that the working times N are equal, the working tasks are preferentially distributed to smaller persons according to the sequence comparison of the station-entering operation accumulated operation time T, the heavy load accumulated mileage Lm and the light load accumulated mileage Ln of each train;
when a plurality of job tasks to be executed exist simultaneously in the shift, the job tasks with larger distance K value of the job task path of a certain shift are preferentially allocated on the basis of the sorting.
In another aspect, an automatic ore transportation scheduling system is employed, comprising: the shovel transportation recording device, automatic ore drawing loading device, on-vehicle automatic control unit and automatic ore unloading unit, shovel transportation recording device is connected with automatic ore drawing loading device, and automatic ore drawing loading device is connected with on-vehicle automatic control unit and carries out two-way communication, and on-vehicle automatic control unit and automatic ore unloading unit are connected, wherein:
the shoveling recording device is used for recording shoveling recording information of the current drop shaft and calculating ore grade and capacity tracking curves of the drop shaft according to the shoveling recording information;
the automatic ore drawing and loading device is used for carrying out tracking calculation on ore grade and capacity tracking curves of the drop shafts, and sending a dispatching application to all vehicle-mounted automatic control units when the ore capacity of the drop shafts exceeds a tolerance set value;
the vehicle-mounted automatic control unit obtains a transportation operation path according to a dispatching application sent by the automatic ore drawing and loading device and the target ore grade yield, sends a wagon alignment ore drawing management and control instruction to the automatic ore drawing and loading device according to the transportation operation path, and sends a sprinkling joint control and vehicle speed self-adaptive control instruction to the automatic ore unloading unit;
in the ore drawing and loading area, the automatic ore drawing and loading device carries out automatic ore drawing control and locomotive driving control linkage according to the train wagon alignment ore drawing management and control instruction;
in the ore discharging area, the automatic ore discharging unit realizes the speed self-adaptive control of the sprinkling joint control according to the sprinkling joint control and the speed self-adaptive control instruction.
Further, the shoveling record information comprises the ore quantity C of each shoveling pass of the scraper j ＝[C 1 ,C 2 ,...,C n ]Grade P of shoveled ore Cj ＝[P C1 ,P C2 ,...,P Cn ]Shoveling destination panel slide number L i ＝[L 1 ,L 2 ,...,L m ]；
The generated ore grade and capacity tracking curveWherein j is the scraper number; t is t ij The carrying capacity of a plurality of carrying machines 1-j received by a No. i mining area drop shaft for a certain t time period; t is t ji For a certain t period, a certain j number of scoopersThe number of times of transporting to the i-size mining area drop shaft is represented by x; t is t Li For several locomotives L in a certain t period 1 -L i Loading ores; t (T) Li For a certain trip L i Amount of ore transported by locomotive, P c For the amount of ore grade transported in this pass, P cj The grade content of the ore shoveled by the j-type scraper.
Further, the vehicle-mounted automatic control unit comprises a distributed intelligent processing module, the distributed intelligent processing module is used for carrying out distributed operation according to the ore grade and capacity tracking curve of each mining area drop shaft and the target ore grade yield to generate a transportation operation path sequence, and the distributed intelligent processing module comprises a task distribution unit, a registration unit and a transportation operation path sequence generation unit, wherein:
the task allocation unit is used for allocating a certain locomotive operation task to the locomotive vehicle-mounted automatic control unit to be executed according to the received dispatching application and the sequencing condition of the locomotives;
the registration unit is used for registering a control link with the automatic ore drawing and loading device and the automatic ore discharging unit;
the transportation operation path sequence generating unit is used for generating pre-occupation route path information and a driving speed limit curve of driving permission according to the self position starting point, the loading point and the unloading point and combining with real-time operation paths of other vehicles.
Further, the task allocation unit includes a job priority calculation subunit and a task allocation subunit, wherein:
the operation priority calculating subunit is used for obtaining the operation priority according to the ore grade and capacity tracking curve of each mining area drop shaft and the loading and unloading fatigue degree of each locomotive;
the task allocation subunit is used for allocating the dispatching task to the locomotive to be executed according to the received dispatching application and the operation priority and granting a certain locomotive operation task.
Compared with the prior art, the invention has the following technical effects: the invention establishes a vehicle communication network with the global tracking of the ore quantity of the ore bin of the ore grade and the distributed intelligent operation, realizes unmanned autonomous scheduling of a 'shoveling, loading, transporting and unloading' transportation system, and has excellent usability.
Drawings
The following detailed description of specific embodiments of the invention refers to the accompanying drawings, in which:
FIG. 1 is a flow chart of a method of automatic ore transport scheduling;
FIG. 2 is a block diagram of an automatic ore transport scheduling system;
FIG. 3 is a block diagram of an in-vehicle automatic control unit;
fig. 4 is a block diagram of an input unit circuit;
FIG. 5 is a timing diagram of self-diagnostic sampling of an input cell circuit;
fig. 6 is a structural diagram of an output unit circuit;
fig. 7 is an overall workflow diagram of an automatic ore transport scheduling system.
Detailed Description
For a further description of the features of the present invention, refer to the following detailed description of the invention and the accompanying drawings. The drawings are for reference and illustration purposes only and are not intended to limit the scope of the present invention.
As shown in fig. 1, the embodiment discloses an automatic ore transportation scheduling method, which includes the following steps S1 to S4:
s1, recording shoveling record information of a current drop shaft, and calculating ore grade and capacity tracking curves of the drop shaft according to the shoveling record information;
s2, tracking calculation is carried out on ore grade and capacity tracking curves of the drop shafts, and a dispatching application is generated when the ore capacity of the drop shafts exceeds a tolerance set value;
s3, generating a transportation operation path sequence according to the target ore grade yield and the dispatching car application;
and S4, according to the transportation operation path sequence, carrying out automatic ore drawing control and locomotive driving control linkage in an ore drawing and loading area, and realizing speed self-adaptive control of water spraying joint control in an ore discharging area.
Further, step S1 is described aboveWherein the shoveling record information comprises the ore quantity C of each shoveling pass of the scraper j ＝[C 1 ,C 2 ,...,C n ]Grade of shoveled ore P Cj ＝[P C1 ,P C2 ,...,P Cn ]Shoveling destination panel slide number L i ＝[L 1 ,L 2 ,...,L m ]；
The generated ore grade and capacity tracking curveWherein j is the scraper number; t is t ij The carrying capacity of a plurality of carrying machines 1-j received by a No. i mining area drop shaft for a certain t time period; t is t ji For a certain t period, the number of times a certain j-number scraper is shoveled to an i-number mining area drop shaft is represented by x; t is t Li For several locomotives L in a certain t period 1 -L i Loading ores; t (T) Li For a certain trip L i Amount of ore transported by locomotive, P c For the amount of ore grade transported in this pass, P cj The grade content of the ore shoveled by the j-type scraper.
Further, in the step S2, the automatic ore drawing and loading device of each mining area drop shaft tracks the curve L according to the ore grade and the capacity i (t)≥L A ，L A And (5) for producing the set value, indicating that the ore in the No. i drop shaft accords with the dispatching condition, and generating a dispatching application.
Further, the step S3: according to the dispatching application, generating a transportation operation path sequence according to the target ore grade yield, wherein the transportation operation path sequence comprises the following subdivision steps S31 to S32:
s31, according to the received dispatching request, dispatching tasks are distributed to the locomotives to be executed, and a certain locomotive operation task is granted;
s32, the locomotive generates pre-occupation route occupying information and a driving speed limit curve according to the position starting point, the loading point and the unloading point of the locomotive and by combining with the real-time operation routes of other vehicles.
Further, the step S31: according to the received dispatching application, dispatching tasks are distributed to the locomotives to be executed, and certain locomotive operation tasks are granted, specifically comprising the following subdivision steps:
obtaining operation priority according to ore grade and capacity tracking curves of each mining area drop shaft and loading and unloading fatigue of each locomotive;
and according to the received dispatching request, dispatching tasks are distributed to the locomotives to be executed according to the operation priority, and a certain locomotive operation task is granted.
Wherein the fatigue and the priority are agreed according to the following method:
under the condition that the working times N are equal, the working tasks are preferentially distributed to smaller persons according to the sequence comparison of the station-entering operation accumulated operation time T, the heavy load accumulated mileage Lm and the light load accumulated mileage Ln of each train;
when a plurality of job tasks to be executed exist simultaneously in the shift, the job tasks with larger distance K value of the job task path of a certain shift are preferentially allocated on the basis of the sorting.
Further, the step S4: according to the transportation operation path sequence, automatic ore drawing control and locomotive driving control linkage are carried out in an ore drawing and loading area, and vehicle speed self-adaptive control of water spraying joint control is realized in an ore discharging area, and the method comprises the following subdivision steps S41 to S42:
s41, according to the transport operation path sequence, vehicle autonomous dispatching is executed, an electric locomotive is automatically controlled to reach an ore drawing and loading operation area of the drop shaft, the electric locomotive is aligned with the drop shaft, and the electric locomotive is automatically linked with the ore drawing machine;
s42, in the ore discharging area, controlling the electric locomotive to realize water spraying joint control and vehicle speed self-adaptive control, and enabling the electric locomotive to pass through the ore discharging area according to certain speed inertia.
As shown in fig. 2, this embodiment discloses an automatic ore transportation scheduling system, including: the shovel transportation recording device, automatic ore drawing loading device, on-vehicle automatic control unit and automatic ore unloading unit, shovel transportation recording device is connected with automatic ore drawing loading device, and automatic ore drawing loading device is connected with on-vehicle automatic control unit and carries out two-way communication, and on-vehicle automatic control unit and automatic ore unloading unit are connected, wherein:
the shoveling recording device is used for recording shoveling recording information of the current drop shaft and calculating ore grade and capacity tracking curves of the drop shaft according to the shoveling recording information;
the automatic ore drawing and loading device is used for carrying out tracking calculation on ore grade and capacity tracking curves of the drop shafts, and sending a dispatching application to all vehicle-mounted automatic control units when the ore capacity of the drop shafts exceeds a tolerance set value;
the vehicle-mounted automatic control unit obtains a transportation operation path according to a dispatching application sent by the automatic ore drawing and loading device and the target ore grade yield, sends a wagon alignment ore drawing management and control instruction to the automatic ore drawing and loading device according to the transportation operation path, and sends a sprinkling joint control and vehicle speed self-adaptive control instruction to the automatic ore unloading unit;
in the ore drawing and loading area, the automatic ore drawing and loading device carries out automatic ore drawing control and locomotive driving control linkage according to the train wagon alignment ore drawing management and control instruction;
in the ore discharging area, the automatic ore discharging unit realizes the speed self-adaptive control of the sprinkling joint control according to the sprinkling joint control and the speed self-adaptive control instruction.
The automatic ore drawing and loading device and the automatic ore unloading unit form a backbone communication network of an ore shoveling, loading and unloading transportation system through a gigabit optical fiber communication interface, the shoveling recording device and the vehicle-mounted automatic control unit are connected with the backbone communication network through a WiFi communication interface, the shoveling recording device and the automatic ore drawing and loading device establish a communication data link, and the vehicle-mounted automatic control unit and the automatic ore drawing and loading device establish a communication data link with the automatic ore unloading unit.
In the system, the number of the shoveling recording devices can be 1-16, the number of the automatic ore drawing and loading devices can be 1-60, the number of the vehicle-mounted automatic control units can be 1-10, and the number of the automatic ore unloading units can be 1-3.
Specifically, the shoveling recording device works in a rubber-tyred vehicle roadway transportation area of an upper opening of a mining area drop shaft, is arranged on an unmanned shoveling machine and is used for recording shoveling recording information and generating an ore grade and capacity tracking curve according to the shoveling recording information. Wherein:
the shoveling record information comprises the ore quantity C of each shoveling pass of the scraper j ＝[C 1 ,C 2 ,...,C n ]Grade P of shoveled ore Cj ＝[P C1 ,P C2 ,...,P Cn ]Shoveling destination panel slide number L i ＝[L 1 ,L 2 ,...,L m ]；
The generated ore grade and capacity tracking curveWherein j is the scraper number; t is t ij The carrying capacity of a plurality of carrying machines 1-j received by a No. i mining area drop shaft for a certain t time period; t is t ji For a certain t period, the number of times a certain j-number scraper is shoveled to an i-number mining area drop shaft is represented by x; t is t Li For several locomotives L in a certain t period 1 -L i Loading ores; t (T) Li For a certain trip L i Amount of ore transported by locomotive, P c For the amount of ore grade transported in this pass, P cj The grade content of the ore shoveled by the j-type scraper.
The shoveling recording device sends the ore grade and capacity tracking curve to L i Automatic ore drawing and loading device is transmitted to all vehicle-mounted automatic control units T in real time by the automatic ore drawing and loading device Li ＝[W 1 ,W 2 ,...,W n ]Wherein P is C To produce the target grade, W n Is T Li Train wagon ID number, m for locomotive traction max ＝60，n max ＝12。
Specifically, taking the recording process of the No. 3 scraper (j=3) in the No. 1 mining area drop shaft as an example, the ore quantity of the mining area drop shaft is determined by scraper scraping data of the upper port of the drop shaft and ore drawing data of the lower port of the drop shaft. If only the scraper 3 works in the drop shaft of the mining area 1 in a certain shift, j=t ij Number of scoops x=t =1 ji =100, grade of P C3 Number of transfers y=t Li =20, the ore charge of the drop shaft is 100×c 3 The transport capacity is 20 xT L3 The real-time data of the ore grade and capacity tracking curve is
Specifically, the automatic ore drawing and loading device is arranged at the lower opening of the ore pass of the mining area, receives the train wagon from the vehicle-mounted automatic control unit to perform the control of the ore drawing, and performs the precise linkage of the automatic ore drawing control and the locomotive driving control.
Specifically, the vehicle-mounted automatic control unit relies on vehicle-mounted obstacle recognition and protection, automatically obtains a transportation operation path according to the application from an automatic ore-drawing and loading device and the target ore grade yield, executes an unmanned vehicle instruction and an automatic ore drawing instruction of an ore drawing machine, and implements automatic alignment ore drawing management and control of a wagon in an ore drawing and loading area to perform accurate linkage of automatic ore drawing control and locomotive driving control; in the ore discharging area, the water spraying joint control and the vehicle speed self-adaptive control are implemented to the automatic ore discharging unit. As shown in fig. 3, the vehicle-mounted automatic control unit is installed in a vehicle cab and comprises an input unit circuit, an output unit circuit and a distributed intelligent processing module.
The input unit circuit adopts a fault real-time self-diagnosis design, a self-checking signal generating circuit and a switching value input detection circuit are arranged in the circuit, a detection signal and switching value are overlapped, and a mode of combining hardware filtering and software filtering is adopted, as shown in fig. 5, the checked switching value and the self-checking signal are connected in parallel to an input terminal A of the switching value input detection circuit, if the A end is V2 high level, a photoelectric isolation device is triggered to be conducted, so that an input end B of the input detection circuit is V1 high level; otherwise, if the a terminal is at low level, the input terminal B of the input detection circuit is at low level, thereby ensuring that the input detection result is reliable.
TABLE 1 input detection Circuit self-diagnostic State safety measures
| Sequence number | Operating state | Detection sequence | Safety measure |
| 1 | Switch closure | 00110000，…… | Normal operation |
| 2 | Switch off | 00000000，…… | Guiding safety side |
| 3 | Open circuit fault of signal acquisition circuit | 00000000，…… | Guiding safety side |
| 4 | Short circuit fault of signal acquisition circuit | 11111111，…… | Guiding safety side |
| 5 | Pulse self-checking circuit open circuit fault | 00000000，…… | Guiding safety side |
| 6 | Short circuit fault of pulse self-checking circuit | 11111111，…… | Guiding safety side |
| 7 | Self-checking pulse frequency offset failure | 0x00～0xFF | Guiding safety and triggering safety state |
In order to enable the CPU to complete real-time self-diagnosis detection of the input state of the circuit according to the change of the sampling timing diagram, as shown in the table 1, taking a reference signal as a clock reference, after the rising edge of each reference signal is triggered, the CPU reads the level information of the B end of a periodic input signal and compares the level information with the waveform of a self-detection signal, and if the self-detection signal is the same, the acquisition circuit has no fault; if other detection sequences appear, faults such as interface power failure, acquisition circuit open circuit and short circuit, detection pulse frequency deviation and the like can be judged. And if and only if the unmanned setting switch is in a safety detection state, constructing a plurality of unmanned vehicles into an unmanned transportation system through the distributed intelligent processing module.
Specifically, as shown in fig. 6, the output unit circuit adopts a fail-safe design, and the circuit has a circuit detection function, so that a short circuit or open circuit abnormal state of a connection circuit with a controlled object and an output execution result can be detected, and when the output circuit module detects a dangerous fault of the output unit circuit, the output unit circuit can lead the output to a safety side. In this embodiment, as shown in fig. 6, the design of the intrinsic and reactive fail-safe principles is adopted, the processor has two output ends for respectively controlling the positive and negative ends of the electromagnetic valve, two loop tests are set, the outputs of the other side are alternately checked, and one loop test is set for detecting the execution state of the electromagnetic valve, and when the electromagnetic valve is in the driving excitation state, the execution result loop test port can also detect the reference signal, so that the control output is ensured to be safe and reliable.
Specifically, as shown in fig. 7, the distributed intelligent processing module is configured to perform distributed operation according to the ore grade and capacity tracking curve of each mining area drop shaft and the target ore grade yield, and generate a transportation operation path sequence, where the distributed intelligent processing module includes a task allocation unit, a registration unit, and a transportation operation path sequence generation unit, where:
the task allocation unit is used for allocating a certain locomotive operation task to the locomotive vehicle-mounted automatic control unit to be executed according to the received dispatching application and the sequencing condition of the locomotives;
the registration unit is used for registering a control link with the automatic ore drawing and loading device and the automatic ore discharging unit;
the transportation operation path sequence generating unit is used for generating pre-occupation route path information and a driving speed limit curve of driving permission according to the self position starting point, the loading point and the unloading point and combining with real-time operation paths of other vehicles.
Specifically, the task allocation unit includes a job priority calculation subunit and a task allocation subunit, in which:
the operation priority calculating subunit is used for obtaining the operation priority according to the ore grade and capacity tracking curve of each mining area drop shaft and the loading and unloading fatigue degree of each locomotive;
the task allocation subunit is used for allocating the dispatching task to the locomotive to be executed according to the received dispatching application and the operation priority and granting a certain locomotive operation task.
Preferably, "fatigue" and "priority" are agreed as follows:
condition one: the method comprises the steps of (1) starting up and using accumulated operation time T, heavy load accumulated mileage Lm and light load accumulated mileage Ln of each train;
condition II: when the number of the working passes of the shift is N, the distance K of the working task path of a certain pass is on duty;
when the number N of working passes is equal, comparing according to the sequence of T, lm and Ln, and preferentially distributing the working tasks for smaller persons;
when a plurality of job tasks to be executed exist simultaneously in the same class, the job tasks with larger K value are preferentially allocated on the basis of the ordering of the T, the Lm and the Ln.
Further, the vehicle-mounted automatic control unit controls the automatic ore drawing and loading device and the automatic ore discharging unit to work under the recognition and protection of the vehicle-mounted obstacle as follows:
(1) According to the transport operation path sequence, vehicle autonomous dispatching is executed, and the electric locomotive is automatically controlled to a drop shaft ore drawing and loading operation area;
(2) The ore drawing and loading operation area of the drop shaft carries out accurate alignment of 'vehicle-chute opening', and is automatically controlled by the ore drawing machine;
(3) In the ore discharging area, water spraying joint control is sent to an automatic ore discharging unit, self-adaptive control is carried out on the running speed, and the running speed passes through the ore discharging area with certain speed inertia.
It should be noted that, the vehicle-mounted automatic control unit designed in this embodiment adopts self-diagnosis and fail-safe design technology, introduces a distributed resource preemption management strategy, and performs standard expression on the working mode and the system operation level of the device, so that the single machine equipment reaches the functional safety level of SIL4, and further realizes the system-level unmanned operation of 'shoveling, loading, transporting and unloading' transportation equipment, thereby having superior safety.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. An automatic ore transportation scheduling method, comprising:
recording shoveling record information of the current drop shaft, and calculating ore grade and capacity tracking curves of the drop shaft according to the shoveling record information;
tracking and calculating ore grade and capacity tracking curves of the drop shafts, and generating a dispatching application when the ore capacity of the drop shafts exceeds a tolerance set value;
according to the dispatching car application, generating a transportation operation path sequence according to the target ore grade yield;
according to the transportation operation path sequence, automatic ore drawing control and locomotive driving control linkage are carried out in an ore drawing and loading area, and vehicle speed self-adaptive control of water spraying joint control is realized in an ore discharging area;
the shoveling record information comprises the ore quantity C of each shoveling pass of the scraper j ＝[C 1 ,C 2 ,...,C n ]Grade P of shoveled ore Cj ＝[P C1 ,P C2 ,...,P Cn ]Shoveling destination panel slide number L i ＝[L 1 ,L 2 ,...,L m ]；
The generated ore grade and capacity tracking curve is as follows:
wherein j is the scraper number; t is t ij The carrying capacity of a plurality of carrying machines 1-j received by a No. i mining area drop shaft for a certain t time period; t is t ji For a certain t period, the number of times a certain j-number scraper is shoveled to an i-number mining area drop shaft is represented by x; t is t Li For several locomotives L in a certain t period 1 -L i Loading ores; t (T) Li For a certain trip L i Amount of ore transported by locomotive, P C For the ore grade of this pass of the transfer,the grade content of the ore shoveled by the j-type scraper.
2. The method of automatic ore transportation scheduling according to claim 1, wherein the generating a transportation job path sequence according to the target ore grade yield from the dispatching request comprises:
according to the received dispatching request, dispatching tasks are distributed to the locomotives to be executed, and a certain locomotive operation task is granted;
the locomotive generates the information of the occupied pre-occupied route and the driving speed limit curve of the driving license according to the starting point of the position, the loading point and the unloading point of the locomotive and by combining with the real-time operation route of other vehicles.
3. The automatic ore transportation scheduling method according to claim 1, wherein the automatic ore drawing control and locomotive driving control linkage are performed in the ore drawing and loading area according to the transportation operation path sequence, and the vehicle speed self-adaptive control for realizing water spraying combined control in the ore discharging area comprises the following steps:
according to the transport operation path sequence, vehicle autonomous dispatching is executed, an electric locomotive is automatically controlled to reach an ore drawing and loading operation area of the drop shaft, the electric locomotive is aligned with the drop shaft, and the electric locomotive is automatically linked with the ore drawing machine;
in the ore discharging area, the electric locomotive is controlled to realize water spraying joint control and vehicle speed self-adaptive control, and the electric locomotive passes through the ore discharging area according to certain speed inertia.
4. The method for automatic ore transportation scheduling according to claim 2, wherein the assigning a dispatch task to a locomotive to be executed according to the received dispatch request, and granting a certain locomotive operation task, comprises:
obtaining operation priority according to ore grade and capacity tracking curves of each mining area drop shaft and loading and unloading fatigue of each locomotive;
and according to the received dispatching request, dispatching tasks are distributed to the locomotives to be executed according to the operation priority, and a certain locomotive operation task is granted.
5. The method for automatic ore transportation scheduling according to claim 4, wherein the fatigue and the priority are agreed as follows:
under the condition that the working times N are equal, the working tasks are preferentially distributed to smaller persons according to the sequence comparison of the station-entering operation accumulated operation time T, the heavy load accumulated mileage Lm and the light load accumulated mileage Ln of each train;
when a plurality of job tasks to be executed exist simultaneously in the shift, the job tasks with larger distance K value of the job task path of a certain shift are preferentially allocated on the basis of the sorting.
6. An automatic ore transportation scheduling system, comprising: the shovel transportation recording device, automatic ore drawing loading device, on-vehicle automatic control unit and automatic ore unloading unit, shovel transportation recording device is connected with automatic ore drawing loading device, and automatic ore drawing loading device is connected with on-vehicle automatic control unit and carries out two-way communication, and on-vehicle automatic control unit and automatic ore unloading unit are connected, wherein:
the shoveling recording device is used for recording shoveling recording information of the current drop shaft and calculating ore grade and capacity tracking curves of the drop shaft according to the shoveling recording information;
the automatic ore drawing and loading device is used for carrying out tracking calculation on ore grade and capacity tracking curves of the drop shafts, and sending a dispatching application to all vehicle-mounted automatic control units when the ore capacity of the drop shafts exceeds a tolerance set value;
the vehicle-mounted automatic control unit obtains a transportation operation path according to a dispatching application sent by the automatic ore drawing and loading device and the target ore grade yield, sends a wagon alignment ore drawing management and control instruction to the automatic ore drawing and loading device according to the transportation operation path, and sends a sprinkling joint control and vehicle speed self-adaptive control instruction to the automatic ore unloading unit;
in the ore drawing and loading area, the automatic ore drawing and loading device carries out automatic ore drawing control and locomotive driving control linkage according to the train wagon alignment ore drawing management and control instruction;
in the ore discharging area, the automatic ore discharging unit realizes the speed self-adaptive control of the sprinkling joint control according to the sprinkling joint control and the speed self-adaptive control instruction;
the shoveling record information comprises the ore quantity C of each shoveling pass of the scraper j ＝[C 1 ,C 2 ,...,C n ]Ore grade shovelingShoveling destination panel slide number L i ＝[L 1 ,L 2 ,...,L m ]；
The generated ore grade and capacity tracking curve is as follows:
wherein j is the scraper number; t is t ij The carrying capacity of a plurality of carrying machines 1-j received by a No. i mining area drop shaft for a certain t time period; t is t ji For a certain t period, the number of times a certain j-number scraper is shoveled to an i-number mining area drop shaft is represented by x; t is t Li For several locomotives L in a certain t period 1 -L i Loading ores; t (T) Li For a certain trip L i Amount of ore transported by locomotive, P C For the ore grade of this pass of the transfer,the grade content of the ore shoveled by the j-type scraper.
7. The automatic ore transportation scheduling system of claim 6, wherein the on-board automatic control unit comprises a distributed intelligent processing module for performing distributed operations according to the ore grade and capacity tracking curve of each mining area drop shaft and the target ore grade yield, generating a transportation operation path sequence, the distributed intelligent processing module comprising a task allocation unit, a registration unit, and a transportation operation path sequence generation unit, wherein:
the task allocation unit is used for allocating a certain locomotive operation task to the locomotive vehicle-mounted automatic control unit to be executed according to the received dispatching application and the sequencing condition of the locomotives;
the registration unit is used for registering a control link with the automatic ore drawing and loading device and the automatic ore discharging unit;
the transportation operation path sequence generating unit is used for generating pre-occupation route path information and a driving speed limit curve of driving permission according to the self position starting point, the loading point and the unloading point and combining with real-time operation paths of other vehicles.
8. The automatic ore transportation scheduling system of claim 7, wherein the task allocation unit comprises a job priority calculation subunit and a task allocation subunit, wherein:
the operation priority calculating subunit is used for obtaining the operation priority according to the ore grade and capacity tracking curve of each mining area drop shaft and the loading and unloading fatigue degree of each locomotive;
the task allocation subunit is used for allocating the dispatching task to the locomotive to be executed according to the received dispatching application and the operation priority and granting a certain locomotive operation task.
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| CN114911238A (en) * | 2022-05-27 | 2022-08-16 | 上海伯镭智能科技有限公司 | Unmanned mine car cooperative control method and system |
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