CN108510167B - Underground trackless transportation equipment operation mode identification system and method - Google Patents
Underground trackless transportation equipment operation mode identification system and method Download PDFInfo
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Abstract
The invention discloses an operation mode identification system and method for underground trackless transportation equipment. The system comprises a server, an electronic tag arranged in a mine, a vehicle-mounted base station installed on a trackless transport vehicle and a wireless communication base station installed in the mine; the vehicle-mounted base station comprises an identification device for identifying the electronic tag, a storage module for storing identification information of the electronic tag and a communication module for communicating with the server through the wireless communication base station; the electronic tags are respectively arranged on a stope, a scraper, a drop shaft, a mining connecting area, a mining connecting port and a wireless communication base station. The invention can monitor the working process of the underground trackless vehicle, identify whether illegal operation exists, avoid miscalculation of ore dilution rate and ore removal grade, and provide accurate basis for mining plan and strategic decision.
Description
Technical Field
The invention relates to a system for identifying an operation mode of underground trackless transportation equipment and an identification method based on the system, which are used for judging whether illegal operation of filling ore with wool and mixing the ore wool exists in the mining and ore removal processes.
Background
The underground ore removal transportation mode is generally as follows: the blasted broken stones are shoveled and sent to underground trackless transport vehicles such as mining trucks through shoveling and transporting machines, then the mining trucks transport the broken stones to ore pass shafts to unload ores or waste stones to waste stone pass shafts to unload waste stones, all pass shafts are converged with ores to rail transport pass shafts, finally, rail transport ore loading equipment is used for loading ores and transporting the ores to an ore hoisting workshop, and the ores are hoisted to the ground surface through hoisting equipment to finish ore transport.
In actual production, the mining production task is usually distributed to a plurality of second-party companies, and during the mining and ore removal processes of the second-party companies, individual ore transporting vehicles can obtain more improper benefits through illegal means of ore filling by wool (wool refers to waste rock), ore filling by empty vehicles and light vehicle operation (light vehicles are empty vehicles, and refer to heavy vehicles which are not loaded with broken stones when ore removal or wool removal is carried out and are loaded with broken stones normally). Meanwhile, as the production scheduling task is asynchronous with the information of a driver of a trackless transport vehicle, the problem of illegal operation of mixing and dumping of ore into a barren rock chute and ore wool of the barren rock into the ore chute often occurs, the ore dilution rate (also called barren rock mixing rate, which means that the grade of the mined ore is reduced due to the mixing of the barren rock in the mining process of the ore, and is one of important indexes for judging the mining work quality and analyzing whether the mining method and plan are reasonable or not) is artificially improved, the ore discharge grade is influenced, and the decision-making error adjustment of the later-stage mining plan and strategy is caused.
The automation, intelligence and humanization of mine production operation become a new research direction in the field of mining industry. However, the underground operation management system in the prior art can only store and count data such as mining amount and the like, and cannot monitor the production process of underground trackless vehicles and identify whether illegal operation exists.
Disclosure of Invention
The invention provides an operation mode identification system and method for underground trackless transportation equipment, which aims to realize the following steps: the working process of the underground trackless vehicle is monitored, whether illegal operation exists or not is identified, the miscalculation of the ore dilution rate and the ore removal grade is avoided, and accurate basis is provided for mining plan and strategic decision.
The technical scheme of the invention is as follows:
the underground trackless transportation equipment operation mode identification system is used for identifying the operation mode of trackless transportation vehicles in a mine, wherein the mine comprises a roadway, a layered stope, an approach stope, an ore pass shaft and a waste rock pass shaft, the layered stope and the approach stope are respectively connected with the roadway through mining areas, the ore pass shaft and the waste rock pass shaft are arranged along the roadway, and the underground trackless transportation equipment operation mode identification system comprises a server, an electronic tag arranged in the mine, a vehicle-mounted base station arranged on the trackless transportation vehicles and a wireless communication base station arranged in the mine;
the vehicle-mounted base station comprises an identification device for identifying the electronic tag, a storage module for storing identification information of the electronic tag and a communication module for communicating with the server through the wireless communication base station;
the electronic tag comprises a tag SE for being arranged in a stope, a tag SH for being arranged on a scraper, a tag OP for being arranged at a draw shaft, a tag SC for being arranged in a mining area, a tag SC' for being arranged at a mining port where the mining area is connected with a roadway and a tag AP for being arranged on a wireless communication base station, wherein the tag SE comprises a SE1 arranged in a layered stope and a SE2 arranged in an approach stope, and the tag OP comprises an OP1 for being arranged at an ore draw shaft and an OP2 for being arranged at a barren draw shaft.
As a further improvement of the invention: the identification device is a radio frequency identification module.
As a further improvement of the invention: the wireless communication base station is a WiFi base station, and the communication module is a WiFi module.
The identification method based on the underground trackless transportation equipment operation mode identification system comprises the following steps: when the trackless transport vehicle executes a task, the electronic tag of the place where the trackless transport vehicle is located is identified through the identification device, the identification information is stored in the storage module, and then the identification information is recorded and uploaded to the server through the wireless communication base station;
the server is provided with a data processing module, and the data processing module records and identifies the operation mode according to the identification information uploaded by the trackless transport vehicle:
if the identification information records record that the trackless transport vehicle moves from the layered stope to the ore pass and then returns to the layered stope or the wireless communication base station, namely the first stage SE 1-the second stage OP-the third stage SE1/AP, the staying time T1a of the trackless transport vehicle in the layered stope in the first stage is longer than the first preset time, and the staying time T2 of the trackless transport vehicle in the ore pass in the second stage is longer than the second preset time, the layered mining ore removal mode is determined;
if the identification information records record that the trackless transport vehicle moves from the mining and connecting area to the drop shaft and then returns to the mining and connecting area or the wireless communication base station, the residence time T1b of the trackless transport vehicle in the mining and connecting area in the first stage is longer than the first preset time, the residence time T2 of the trackless transport vehicle in the second stage is longer than the second preset time, namely the first stage SC, the second stage OP and the third stage SC/AP, the mode of wool removal in the layered mining and tunneling is judged;
and if the identification information records record that the trackless transport vehicle moves from the mining and connecting port to the draw shaft and then returns to the mining and connecting port or the wireless communication base station, namely the first stage SC '-the second stage OP-the third stage SC'/AP, the residence time T1c of the trackless transport vehicle at the mining and connecting port in the first stage is longer than the first preset time, and the residence time T2 of the trackless transport vehicle in the draw shaft in the second stage is longer than the second preset time, the trackless transport vehicle is judged to be in the access mining mode.
Further: in the layered mining ore removal mode, if SE1 and SH are identified at the same time in the first stage, the layered mining is judged to be in the layered mining field, and if only SE1 is identified but SH is not identified, the illegal light-car operation and empty-car ore filling are judged.
Further: in the layered mining ore removal mode, if the ore removal rate is identified to be OP1 in the second stage, normal ore removal is judged in the ore pass, and if the ore removal rate is identified to be OP2 in the second stage, illegal ore wool mixing in the waste ore pass is judged.
Further: and under a fur emergence mode in the layered mining excavation, if SC and SH are identified simultaneously in the first stage, judging that the furs are loaded in a mining and connecting area, and if only SC is identified but SH is not identified, judging that the furs of the illegal light trolley of the trackless transport vehicle appear.
Further: in the wool-removing mode in the layered mining excavation, if the wool-removing mode is identified as OP1 in the second stage, the ore is judged to be filled with wool in the ore pass violation, and if the wool-removing mode is identified as OP2 in the second stage, the wool-removing mode is judged to be normal wool-removing in the barren ore pass.
Further: in the access mining mode, the data processing module is also required to read scheduling task data: when the trackless transport vehicle task is ore removal W1, if SC 'and SH are identified in the first stage at the same time, normal ore loading at a mining and connecting port is judged, and if only SC' is identified but SH is not identified, illegal light-vehicle operation and empty-vehicle ore filling of the trackless transport vehicle are judged; when the task of the trackless transport vehicle is wool-off W2, if SC 'and SH are identified at the same time in the first stage, the situation that the wool is normally loaded at the picking and connecting port is judged, and if only SC' is identified and SH is not identified, the situation that the trackless transport vehicle violates the light-truck operation is judged.
Further: in the access mining mode, the data processing module is also required to read scheduling task data: when the task of the trackless transport vehicle is ore removal W1, if the task is identified as OP1 in the second stage, the ore is judged to be normally removed from the ore pass, and if the task is identified as OP2 in the second stage, the ore is judged to be mixed and fallen in the barren rock pass; when the task of the trackless transport vehicle is wool-producing W2, if the second stage is identified as OP1, the ore is judged to be mixed in the ore pass, and if the second stage is identified as OP2, the ore is judged to be normally wool-producing in the barren pass.
Compared with the prior art, the invention has the following positive effects: (1) the system records the loading and unloading conditions and the running track of the vehicle through the electronic tags installed at different places and the recognition devices installed on the vehicle, uploads the records to the server, provides a data basis for monitoring, operation modes and illegal operation recognition, can monitor and recognize data through a manual mode at the server end, and can also analyze the data through an intelligent algorithm; (2) the identification method can automatically identify the operation mode of the vehicle and judge whether illegal operations such as ore filling by wool, ore filling by empty vehicles, ore mixing and dumping by the ore wool, light vehicle operation and the like exist.
Drawings
Fig. 1 is a schematic view of the present invention arranged in a mine.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings:
an operation mode identification system of underground trackless transportation equipment is used for identifying the operation mode of trackless transportation vehicles in a mine, as shown in figure 1, the mine comprises a roadway 1, a layered stope 2, an approach stope 3, an ore draw shaft 4 and a waste rock draw shaft 5, the layered stope 2 and the approach stope 3 are respectively connected with the roadway 1 through a mining connecting area 7, and the ore draw shaft 4 and the waste rock draw shaft 5 are arranged along the roadway 1.
Most of the ores are in the stope, and all the mining areas 7 are waste rocks generated in the tunneling process. The layered mining method corresponds to a layered stope 2, both a scraper and a trackless transport vehicle can enter the layered stope 2, the scraper loads the trackless transport vehicle in the layered stope 2, and the trackless transport vehicle loads wool in a mining area 7; and the access mining method corresponds to the access stope 3, only the scraper can enter the access stope 3, the trackless transport vehicle needs to stop at a mining connecting port 8 at the connecting part of a mining connecting area 7 and the roadway 1, and the scraper loads and loads the wool for the trackless transport vehicle at the mining connecting port 8.
The underground trackless transportation equipment operation mode recognition system comprises a server, an electronic tag 9 arranged in a mine, a vehicle-mounted base station installed on a trackless transportation vehicle and a wireless communication base station installed in the mine; the trackless transport vehicle mainly refers to underground trackless transport equipment such as a mining truck.
The vehicle-mounted base station is powered by a storage battery and comprises an identification device for identifying the electronic tag 9, a storage module for storing identification information of the electronic tag 9 and a communication module for communicating with the server through a wireless communication base station; the identification device is a radio frequency identification module, namely an RFID read-write module, the wireless communication base station is a WiFi base station 6, and the communication module is a WiFi module.
The electronic tag 9 includes a tag SE for installation in the stope, a tag SH for installation on the scraper, a tag OP for installation at the draw, a tag SC for installation in the panel 7, a tag SC' for installation at the panel 8 where the panel 7 meets the roadway 1, and a tag AP for installation at a wireless communication base station, the tag SE including SE1 for installation in the stratified stope 2 and SE2 for installation in the approach stope 3, the tag OP including OP1 for installation at the ore draw 4 and OP2 for installation at the gangue draw 5.
Radio Frequency Identification (RFID) technology is a communication technology and is one of important information acquisition technologies of the Internet of things. Radio frequency tags are physical carriers of the electronic code (EPC) of a product, attached to trackable items, which circulate globally and identify and read and write them. The specific target can be identified and the related data can be read and written by radio signals without establishing mechanical or optical contact between the identification system and the specific target. Radio frequency identification technology has many outstanding advantages: 1) the method has the advantages that the method is operated in a non-contact mode, and long-distance identification (several centimeters to dozens of meters) is realized, so that manual intervention is not needed when the identification work is finished, and the application is convenient; 2) the device has no mechanical abrasion, has long service life, and can work in severe environments such as various oil stains, dust pollution and the like; 3) the system can identify high-speed moving objects and can identify a plurality of electronic tags simultaneously; 4) the reader-writer is provided with a physical interface which is not directly opened to the final user, so that the safety of the reader-writer is ensured; 5) in addition to the password protection of the electronic tag 9, the data security aspect can realize security management by using some algorithms in the data part; 6) a mutual authentication process exists between the reader-writer and the label, so that safe communication and storage are realized; 7) the electronic tag 9 adopts a passive mode, does not need power supply, has low cost and is easy to popularize and maintain.
The invention utilizes RFID technology, through the RFID read-write module of the vehicle-mounted base station, the electronic tags 9 installed at key positions of various stopes, orepasses, roadways 1 and the like are identified, the path record of the transportation process of the trackless transport vehicle is realized, and the path record is stored in the vehicle-mounted base station.
The following information is agreed in the data transmission protocol:
1) message marking: the data instruction 0xAA11 and the heartbeat instruction 0xBEBE, if the first two bytes of the resolution protocol are not the definition, indicate that the data transmission is wrong, and the server side actively disconnects the client side. The heartbeat is to ensure that under the condition of network disconnection, the server side clears invalid client side connection in time, and both sides can request and reply the same heartbeat instruction. And when the vehicle-mounted base station machine does not receive the reply, the disconnection or the server makes errors, the client side is disconnected, and the data is retransmitted at the position where the reply is not received.
2) Message source: and the server binds the vehicle information by using the IP address.
3) Message target: and the server IP receives and analyzes the data if the IP is the server IP, otherwise, the server IP directly forwards the data to the vehicle-mounted base station with the IP address without analyzing, and the forwarding can be communication of different vehicle-mounted base stations.
4) The message version.
5) Message type: sub-message extension, default 0.
6) Message length: if the instruction has no data and the length is 0, in order to ensure the load balance of the thread pool, the message length limits the maximum load to 4096 bytes, namely 4074 bytes in addition to 22 message headers and the epc length is 20 bytes, so that at most 200 records are sent at a time. And transmitting the data in a multi-packet mode.
7) Message format: the message format is message header + data (message header + N electronic tag 9 codes), if no data exists, only the message header exists, the byte length of the dserver _ msg _ t is L1, the byte length of the dserver _ epc _ t is L2, if the total length of the received data is not L1+ N L2, the data is indicated to be in error, the data is discarded, and the client is actively disconnected, and the mechanism ensures that the client sends invalid data.
When two light vehicles are driven in opposite directions, the vehicles with more vehicles pass through preferentially; the traffic flow with high priority passes preferentially, and the traffic flows in the opposite direction are avoided in sequence; when the heavy traffic flow and the light traffic flow are split, the heavy traffic flow passes preferentially, and the light traffic flow avoids; when the stope is saturated, vehicles leaving the stope preferentially pass and enter the stope to avoid; if the traffic flow in a certain direction is saturated or blocked, the traffic flow in the direction is preferentially allowed to pass through; when the heavy vehicle is driven to the opposite direction, the vehicles entering the stope and the chute preferentially pass through.
Aiming at the problem of typical operation identification of underground trackless equipment transportation, a set of underground trackless equipment identification software system is built, and on the basis, an identification method of a typical operation mode of trackless equipment is provided.
The transportation position and the typical behavior type of the underground trackless equipment are divided by analyzing the characteristics of ore loading, ore transporting and ore unloading in the typical operation process of the underground trackless equipment; according to the characteristics of different trackless equipment operation types, the position characteristics of a transportation track and the residence time of trackless transportation equipment at each position are respectively extracted from transportation records uploaded by a vehicle-mounted base station and used as the characteristics of transportation behaviors, a trackless transportation equipment behavior identification expert system is established and used as the input quantity of a support vector machine algorithm to realize the identification of the ore loading times and the ore loading quantity of the trackless transportation equipment.
The software system has six modules: the system comprises a system configuration module, a data receiving module, a data processing module, a data storage module, a data report module and an illegal alarm module. The system configuration module is responsible for configuring parameters such as a vehicle-mounted base station, an electronic tag 9 and an operation scheduling event, the data receiving module is responsible for intercepting the connection, receiving and analyzing data of the vehicle-mounted base station from the TCP, the data processing module is responsible for calling a recognition algorithm and recognizing an operation mode and violation operation of trackless transportation equipment, the data storage module is responsible for storing a recognition result into a database, the data reporting module is responsible for counting data reports such as operation daily reports, week reports and monthly reports of each trackless transportation equipment, stopes and drop shafts, and the violation alarm module is responsible for violation summary operation of the trackless transportation equipment.
When the trackless transport vehicle executes a task, the electronic tag 9 at the position is identified by the identification device, the identification information is stored in the storage module, and the identification information is recorded and uploaded to the server through the wireless communication base station.
The server is provided with a data processing module, and the data processing module records and identifies the operation mode according to the identification information uploaded by the trackless transport vehicle:
if the identification information records record that the trackless transport vehicle moves from the layered stope 2 to the draw shaft and then returns to the layered stope 2 or the wireless communication base station, namely the first stage SE 1-the second stage OP-the third stage SE1/AP, the staying time T1a of the trackless transport vehicle in the layered stope 2 in the first stage is longer than the first preset time, and the staying time T2 of the trackless transport vehicle in the draw shaft in the second stage is longer than the second preset time, the layered mining ore removal mode is judged;
in the layered mining ore removal mode, if SE1 and SH are identified simultaneously in the first stage, the layered mining field 2 is judged to be loaded with ore, and if only SE1 is identified but SH is not identified, the layered mining field is judged to be in violation of light vehicle operation and empty vehicle ore filling;
if identified in the second stage as OP1, it is determined that ore is normally removed from the ore pass 4, and if identified in the second stage as OP2, it is determined that the illicit ore is mixed in the barren ore pass 5.
If the identification information records record that the trackless transport vehicle moves from the mining and connecting area 7 to the draw shaft and then returns to the mining and connecting area 7 or the wireless communication base station, and the residence time T1b of the trackless transport vehicle in the mining and connecting area 7 in the first stage is longer than a first preset time, and the residence time T2 of the trackless transport vehicle in the second stage is longer than a second preset time, namely the first stage SC, the second stage OP and the third stage SC/AP, the mode of wool removal in the layered mining and tunneling is judged;
in a dehairing mode in the layered mining excavation, if SC and SH are identified simultaneously in the first stage, determining that the hairs are loaded in a mining and connecting area 7, and if only SC is identified and SH is not identified, determining that the hairs are knocked out by the illegal light vehicle of the trackless transport vehicle;
if identified in the second stage as OP1, it is determined that ore charging in the ore pass 4 is illegal, and if identified in the second stage as OP2, it is determined that wool is normally produced in the barren pass 5.
If the identification information records record that the trackless transport vehicle moves from the mining and connecting port 8 to the draw shaft and then returns to the mining and connecting port 8 or the wireless communication base station, namely the first stage SC '-the second stage OP-the third stage SC'/AP, the staying time T1c of the trackless transport vehicle at the mining and connecting port 8 in the first stage is longer than the first preset time, and the staying time T2 of the trackless transport vehicle in the draw shaft in the second stage is longer than the second preset time, the trackless transport vehicle is judged to be in the access mining mode.
In the access mining mode, the data processing module is also required to read scheduling task data: when the trackless transport vehicle task is ore removal W1, if SC 'and SH are identified in the first stage at the same time, normal ore loading is judged at the mining and connecting port 8, and if only SC' is identified but SH is not identified, illegal light-vehicle operation and empty-vehicle ore filling of the trackless transport vehicle are judged; when the task of the trackless transport vehicle is wool-off W2, if SC 'and SH are identified in the first stage at the same time, the trackless transport vehicle is judged to be normally loaded with wool at the picking and connecting port 8, and if only SC' is identified but SH is not identified, the trackless transport vehicle is judged to be in violation of light operation;
when the task of the trackless transport vehicle is ore removal W1, if the task is identified as OP1 in the second stage, the ore pass 4 is judged to be normally ore removed, and if the task is identified as OP2 in the second stage, the ore wool is judged to be mixed and fallen in the barren rock pass 5; when the task of the trackless transport vehicle is wool-out W2, if it is identified as OP1 in the second stage, it is determined that the ore in the ore pass 4 is mixed, and if it is identified as OP2 in the second stage, it is determined that the wool is normally wool-out in the barren pass 5.
Regarding the residence time at each location: in the continuous record of the electronic tag 9 at a certain position, the time of the electronic tag 9 at the first position is taken as the starting time, the last one is taken as the ending time, and the difference is obtained to obtain the staying time. Such as: in the layered mining ore removal mode, continuous SE1 identification records exist in the first stage, the time from identification to SE1 when the first time the layered mining site 2 is entered is taken as the starting time, and the time from identification to SE1 when the last time the layered mining site 2 is left is taken as the ending time. The rest of the places are analogized and will not be described in detail.
Preferably, the first preset time is 5min, and the second preset time is 2 min.
Claims (7)
1. A method for identifying an operation mode of underground trackless transportation equipment is characterized by comprising the following steps: based on following trackless transportation equipment operation mode identification system in pit:
the identification system is used for identifying the operation mode of a trackless transport vehicle in a mine, the mine comprises a roadway (1), a layered stope (2), an approach stope (3), an ore draw shaft (4) and a waste rock draw shaft (5), the layered stope (2) and the approach stope (3) are respectively connected with the roadway (1) through a mining connecting area (7), and the ore draw shaft (4) and the waste rock draw shaft (5) are arranged along the roadway (1); the underground trackless transportation equipment operation mode recognition system comprises a server, an electronic tag (9) arranged in a mine, a vehicle-mounted base station installed on a trackless transportation vehicle and a wireless communication base station installed in the mine;
the vehicle-mounted base station comprises an identification device for identifying the electronic tag (9), a storage module for storing identification information of the electronic tag (9) and a communication module for communicating with the server through a wireless communication base station;
the electronic tag (9) comprises a tag SE for being arranged in a stope, a tag SH for being arranged on a scraper, a tag OP for being arranged at a draw shaft, a tag SC for being arranged in a mining and connecting area (7), a tag SC' for being arranged at a mining and connecting port (8) where the mining and connecting area (7) is connected with a roadway (1) and a tag AP for being arranged at a wireless communication base station, wherein the tag SE comprises a SE1 arranged in a layered stope (2) and a SE2 arranged in an approach stope (3), and the tag OP comprises an OP1 for being arranged at a ore draw shaft (4) and an OP2 for being arranged at a waste ore draw shaft (5);
the identification process is as follows:
when the trackless transport vehicle executes a task, the electronic tag (9) of the place where the trackless transport vehicle is located is identified through the identification device, the identification information is stored in the storage module, and the identification information is recorded and uploaded to the server through the wireless communication base station;
the server is provided with a data processing module, and the data processing module records and identifies the operation mode according to the identification information uploaded by the trackless transport vehicle:
if the identification information records record that the trackless transport vehicle moves from the layered stope (2) to the draw shaft and then returns to the layered stope (2) or the wireless communication base station, namely the first stage SE 1-the second stage OP-the third stage SE1/AP, the staying time T1a of the trackless transport vehicle in the layered stope (2) in the first stage is longer than the first preset time, and the staying time T2 of the trackless transport vehicle in the draw shaft in the second stage is longer than the second preset time, the layered mining ore removal mode is determined;
if the identification information records record that the trackless transport vehicle moves from the mining and connecting area (7) to the draw shaft and then returns to the mining and connecting area (7) or the wireless communication base station, the staying time T1b of the trackless transport vehicle in the mining and connecting area (7) in the first stage is longer than a first preset time, the staying time T2 of the trackless transport vehicle in the second stage in the draw shaft is longer than a second preset time, namely the first stage SC, the second stage OP and the third stage SC/AP, the wool outlet mode in the layered mining excavation is judged;
if the identification information records record that the trackless transport vehicle moves from the mining and connecting port (8) to the draw shaft and then returns to the mining and connecting port (8) or the wireless communication base station, namely the first stage SC '-the second stage OP-the third stage SC'/AP, the staying time T1c of the trackless transport vehicle at the mining and connecting port (8) in the first stage is longer than the first preset time, and the staying time T2 of the trackless transport vehicle in the draw shaft in the second stage is longer than the second preset time, the mode of the access mining is determined.
2. The method of claim 1, wherein the method further comprises: in the layered mining ore removal mode, if SE1 and SH are identified simultaneously in the first stage, the ore is judged to be loaded in a layered mining field (2), and if only SE1 is identified and SH is not identified, the illegal light-vehicle operation and empty-vehicle ore filling are judged.
3. The method of claim 1, wherein the method further comprises: in the layered mining ore removal mode, if the ore removal rate is identified to be OP1 in the second stage, normal ore removal is judged in the ore pass (4), and if the ore removal rate is identified to be OP2 in the second stage, illegal ore wool mixing is judged in the waste ore pass (5).
4. The method of claim 1, wherein the method further comprises: and under a fur removing mode in the layered mining excavation, if SC and SH are identified simultaneously in the first stage, judging that the furs are loaded in a mining and connecting area (7), and if only SC is identified but SH is not identified, judging that the furs are removed from the illegal light trolley of the trackless transport vehicle.
5. The method of claim 1, wherein the method further comprises: in the wool-removing mode in the layered mining excavation, if the wool-removing mode is identified as OP1 in the second stage, the ore is judged to be filled with wool in the ore pass (4) in an illegal way, and if the wool-removing mode is identified as OP2 in the second stage, the wool-removing mode is judged to be normally used in the waste ore pass (5).
6. The method of claim 1, wherein the method further comprises: in the access mining mode, the data processing module is also required to read scheduling task data: when the trackless transport vehicle task is ore removal W1, if SC 'and SH are identified in the first stage at the same time, normal ore loading is judged at a mining connection port (8), and if only SC' is identified but SH is not identified, illegal light-vehicle operation and empty-vehicle ore filling of the trackless transport vehicle are judged; when the task of the trackless transport vehicle is wool-off W2, if SC 'and SH are identified simultaneously in the first stage, the trackless transport vehicle is judged to be normally loaded with wool at the picking and connecting port (8), and if only SC' is identified but SH is not identified, the trackless transport vehicle is judged to be in violation of light vehicle operation.
7. The method of claim 1, wherein the method further comprises: in the access mining mode, the data processing module is also required to read scheduling task data: when the task of the trackless transport vehicle is ore removal W1, if the task is identified as OP1 in the second stage, the ore is judged to be normally removed from the ore pass (4), and if the task is identified as OP2 in the second stage, the ore is judged to be mixed and fallen in the barren rock pass (5); when the task of the trackless transport vehicle is wool-out W2, if the second stage is identified as OP1, the ore is judged to be mixed in the ore pass (4), and if the second stage is identified as OP2, the ore pass (5) is judged to be normally wool-out.
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| CN112037503B (en) * | 2020-08-31 | 2021-08-17 | 安徽海螺集团有限责任公司 | Mine intelligent scheduling system |
| CN112712319A (en) * | 2020-12-31 | 2021-04-27 | 徐州科瑞矿业科技有限公司 | Intelligent material distribution system and method for coal mine |
| CN113271657A (en) * | 2021-04-21 | 2021-08-17 | 中煤科工开采研究院有限公司 | Underground coal mine automatic driving UWB reverse application positioning method |
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