CN109633777B - Heavy truck data analysis-based mine road exploration method and system - Google Patents
Heavy truck data analysis-based mine road exploration method and system Download PDFInfo
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Abstract
The invention discloses a method and a system for mining road exploration based on data analysis of a heavy truck, wherein the method comprises the following steps: acquiring gyroscope angle information, an excitation current curve and accelerator pedal angle information of a plurality of mine heavy trucks when the trucks run on a gentle road surface so as to establish a gentle road vehicle standard model; acquiring gyroscope angle information, an excitation current curve and accelerator pedal angle information of a plurality of mine heavy trucks when the trucks run on slopes with different angles, thereby establishing slope vehicle standard models with different angles; acquiring running data of a heavy truck in a mine in real time, and recording gyroscope angle information, an excitation current curve and accelerator pedal angle information of the heavy truck in real time; and comparing the information recorded in real time with the standard model of the vehicle on the gentle road surface and the standard model of the vehicle on the slope surface so as to judge the gentle condition of the current road surface. The mine road surveying method and the system can survey the condition of the mine road in real time, reduce the workload of on-site surveying and provide objective road information.
Description
Technical Field
The invention relates to the field of open-pit mining, in particular to a method and a system for mining road exploration based on data analysis of a heavy truck.
Background
In the field of surface mining, mine road conditions must be investigated in order to ensure production safety. At present, mine road condition exploration is generally carried out in two modes, including site exploration and aerial photography by technologies such as unmanned aerial vehicles.
The method for surveying the road condition on site is time-consuming, labor-consuming and has more subjective factors.
Through watching aerial photography to investigate road conditions, because aerial photography is influenced by definition, weather conditions and the like, aerial photography cannot be implemented in strong wind and heavy fog weather, and in addition, the aerial photography is influenced by main observation factors in the same way as field investigation, and the obtained result is inaccurate.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a mine road surveying method and system based on data analysis of a heavy truck, which can survey the condition of a mine road in real time, reduce the workload of field surveying and provide objective road information.
In order to achieve the purpose, the invention provides a mine road exploration method based on data analysis of a heavy truck, which comprises the following steps: acquiring gyroscope angle information, an excitation current curve and accelerator pedal angle information when a plurality of heavy trucks in a mine run on a gentle road surface in the mine, thereby establishing a gentle road surface vehicle standard model; acquiring gyroscope angle information, an excitation current curve and accelerator pedal angle information of a plurality of heavy trucks in a mine when the heavy trucks run on slopes at different angles in the mine, thereby establishing slope vehicle standard models at different angles; acquiring running data of a heavy truck in a mine in real time, and recording gyroscope angle information, an excitation current curve and accelerator pedal angle information of the heavy truck in real time; and comparing the gyroscope angle information, the exciting current curve and the accelerator pedal angle information of the mining heavy truck recorded in real time with the standard model of the gentle road vehicle and the standard models of slope vehicles at different angles so as to judge the gentle condition of the current driving road of the mining heavy truck, wherein the mining heavy trucks are all trucks of the same model.
In a preferred embodiment, the slope surfaces with different angles are divided into 16 stages, and the method comprises the following steps: 1 degree slope, 2 degree slope, 3 degree slope, 4 degree slope, 5 degree slope, 6 degree slope, 7 degree slope, 8 degree slope, -1 degree slope, -2 degree slope, -3 degree slope, -4 degree slope, -5 degree slope, -6 degree slope, -7 degree slope, and-8 degree slope.
In a preferred embodiment, the method for mine road surveying further comprises: and comparing the gyroscope angle information, the exciting current curve and the accelerator pedal angle information of the mine heavy truck recorded in real time with the gentle road vehicle standard model and the slope vehicle standard models at different angles, and sending alarm information to a driver of the mine heavy truck or mine management personnel when the gyroscope angle information, the exciting current curve and the accelerator pedal angle information of the mine heavy truck recorded in real time exceed the gentle road vehicle standard model and the slope vehicle standard models at different angles.
The invention also provides a mine road exploration system based on data analysis of the heavy truck, which comprises: the system comprises a gentle road vehicle standard model building module, a slope vehicle standard model building module, a real-time acquisition module and a road gentle condition judgment module. The standard model building module of the gentle road vehicle is used for collecting gyroscope angle information, exciting current curves and accelerator pedal angle information when a plurality of heavy trucks in a mine run on a gentle road of the mine, so that the standard model of the gentle road vehicle is built. The slope vehicle standard model building module is used for collecting gyroscope angle information, exciting current curves and accelerator pedal angle information of a plurality of heavy trucks in the mine when the heavy trucks run on slopes at different angles, so that slope vehicle standard models at different angles are built. The real-time acquisition module is used for acquiring the running data of the heavy truck in the mine in real time and recording the gyroscope angle information, the excitation current curve and the accelerator pedal angle information of the heavy truck in real time. The road mild condition judgment module is connected with the mild road vehicle standard model building module, the slope vehicle standard model building module and the real-time acquisition module, and is used for comparing gyroscope angle information, exciting current curves and accelerator pedal angle information of the mine heavy truck recorded in real time with the mild road vehicle standard model and slope vehicle standard models at different angles so as to judge the mild condition of the current driving road surface of the mine heavy truck.
In a preferred embodiment, the slope surfaces with different angles are divided into 16 stages, and the method comprises the following steps: 1 degree slope, 2 degree slope, 3 degree slope, 4 degree slope, 5 degree slope, 6 degree slope, 7 degree slope, 8 degree slope, -1 degree slope, -2 degree slope, -3 degree slope, -4 degree slope, -5 degree slope, -6 degree slope, -7 degree slope, and-8 degree slope.
In a preferred embodiment, the mine road surveying system further includes a road condition alarm module, coupled to the road mild condition determining module, for sending alarm information to a driver of the mine heavy truck or a mine manager when the gyroscope angle information, the excitation current curve, and the accelerator pedal angle information of the mine heavy truck recorded in real time exceed the mild road vehicle standard model and the slope vehicle standard models at different angles.
Compared with the prior art, according to the mine road exploration method and system based on heavy truck data analysis, the current road mild condition can be judged by establishing the vehicle standard model on the mild road surface and the vehicle standard models on the slopes with different angles and comparing the vehicle data acquired in real time with the models, such as road grout turning, overlarge slope, improper maintenance and the like, the road exploration result is more objective and timely, personnel do not need to go to the site for exploration, most of workload of road management personnel is reduced, unmanned aerial vehicles do not need to take photos, the unmanned aerial vehicles do not need to limit weather conditions, and equipment expenditure is reduced. In addition, the abnormal data condition exceeding the model is alarmed, and the safety risk of the heavy truck in the mine is effectively reduced.
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FIG. 1 is a method of mine road exploration based on heavy truck data analysis, according to an embodiment of the present invention;
fig. 2 is a mine road survey system based on data analysis of a heavy truck according to an embodiment of the present invention.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
The inventor deeply considers the problems of two modes of on-site exploration and mining area road exploration by aerial photography through technologies such as unmanned aerial vehicles and the like. The inventor finds that during the running process of the heavy truck in the mine, the slope change of the road and the quality change of the road surface can cause the data of the vehicle to be regularly changed, such as data of an accelerator pedal, exciting current and the like. If the data of a plurality of vehicles which can run on the same road for a period of time are read remotely, the data and the real-time coordinate data of the vehicles are comprehensively analyzed through calculation of the background server, and then the road condition map of the mine road is obtained. The road condition map indicates the problems of the road sections needing to be maintained, and the production scheduling and road maintenance departments can visually know the on-site road conditions from the road condition map. Based on the above thought, the inventor provides a heavy truck data analysis-based mine road exploration method and system, which can solve the problems in the prior art.
Fig. 1 is a method for mining road survey based on data analysis of a heavy truck according to an embodiment of the present invention, the method for mining road survey including steps S1 to S5.
A flat road vehicle standard model is established in step S1: and acquiring gyroscope angle information, an excitation current curve and accelerator pedal angle information when a plurality of heavy trucks in the mine run on a gentle road surface in the mine, thereby establishing a standard model of the vehicle on the gentle road surface.
When the running vehicle data is similar to the model, the road surface on which the vehicle runs is considered to be a flat road surface.
A standard slope vehicle model is established in step S2: and acquiring gyroscope angle information, excitation current curves and accelerator pedal angle information of a plurality of heavy trucks in the mine when the heavy trucks in the mine run on slopes at different angles, thereby establishing slope vehicle standard models at different angles.
Optionally, the angle of the general mine road is not greater than 8 degrees, and the slopes at different angles can be divided into 16 grades, which respectively include: 1 degree slope, 2 degree slope, 3 degree slope, 4 degree slope, 5 degree slope, 6 degree slope, 7 degree slope, 8 degree slope, -1 degree slope, -2 degree slope, -3 degree slope, -4 degree slope, -5 degree slope, -6 degree slope, -7 degree slope, and-8 degree slope. When the running vehicle data is close to each grading angle model, the road surface on which the vehicle runs is considered as the model angle. And when the angle range of the model is exceeded, giving an alarm, and considering that the road surface is beyond the design range.
The vehicle driving data is acquired in real time in step S3: the method comprises the steps of collecting running data of a heavy truck in a mine in real time, and recording gyroscope angle information, exciting current curves and accelerator pedal angle information of the heavy truck in real time.
In step S4, the smoothness of the truck-running road surface is determined: and comparing the gyroscope angle information, the exciting current curve and the accelerator pedal angle information of the mine heavy truck recorded in real time with the standard model of the gentle road vehicle and the standard models of slope vehicles at different angles so as to judge the gentle condition of the current running road of the mine heavy truck.
Preferably, the mine road survey method further comprises alarming for a road abnormal condition in step S5: and comparing the gyroscope angle information, the excitation current curve and the accelerator pedal angle information of the mine heavy truck recorded in real time with the gentle road vehicle standard model and the slope vehicle standard models at different angles, and sending alarm information to a driver or a mine manager of the mine heavy truck when the gyroscope angle information, the excitation current curve and the accelerator pedal angle information of the mine heavy truck recorded in real time exceed the gentle road vehicle standard model and the slope vehicle standard models at different angles.
Fig. 2 is a mine road survey system based on data analysis of heavy trucks according to an embodiment of the present invention, the mine road survey system comprising: the system comprises a gentle road vehicle standard model building module 10, a slope vehicle standard model building module 11, a real-time acquisition module 12 and a road gentle condition judgment module 13, and preferably further comprises a road condition alarm module 14.
The standard model building module 10 for the flat road vehicle is used for collecting gyroscope angle information, excitation current curves and accelerator pedal angle information of a plurality of heavy trucks in a mine when the trucks in the mine run on a flat road in the mine, so as to build a standard model of the flat road vehicle.
The slope vehicle standard model building module 11 is used for collecting gyroscope angle information, excitation current curves and accelerator pedal angle information of a plurality of mine heavy trucks when the trucks run on slopes at different angles of a mine, so as to build slope vehicle standard models at different angles. For example, the slope at different angles may be divided into 16 levels, including: 1 degree slope, 2 degree slope, 3 degree slope, 4 degree slope, 5 degree slope, 6 degree slope, 7 degree slope, 8 degree slope, -1 degree slope, -2 degree slope, -3 degree slope, -4 degree slope, -5 degree slope, -6 degree slope, -7 degree slope, and-8 degree slope.
The real-time acquisition module 12 is used for acquiring the running data of the heavy truck in the mine in real time and recording the gyroscope angle information, the excitation current curve and the accelerator pedal angle information of the heavy truck in real time.
The road mild condition judgment module 13 is coupled with the mild road vehicle standard model building module 10, the slope vehicle standard model building module 11 and the real-time acquisition module 12, and is used for comparing the gyroscope angle information, the excitation current curve and the accelerator pedal angle information of the mine heavy truck recorded in real time with the mild road vehicle standard model and the slope vehicle standard models at different angles so as to judge the mild condition of the current driving road surface of the mine heavy truck.
The road condition alarm module 14 is coupled with the road mild condition judgment module 13, and configured to send alarm information to a driver of the mine heavy truck or a mine manager when the real-time recorded gyroscope angle information, excitation current curve and accelerator pedal angle information of the mine heavy truck exceed the mild road vehicle standard model and the slope vehicle standard models at different angles.
In summary, according to the method and system for mining road survey based on heavy truck data analysis in the embodiment, the current road mild condition, such as road grout turning, overlarge gradient, improper maintenance and the like, can be judged by establishing the standard model of the vehicle on the mild road surface and the standard model of the vehicle on the slope surface at different angles and comparing the vehicle data collected in real time with the models. In addition, the abnormal data condition exceeding the model is alarmed, and the safety risk of the heavy truck in the mine is effectively reduced.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (4)
1. A mine road exploration method based on data analysis of a heavy truck is characterized by comprising the following steps:
acquiring gyroscope angle information, an excitation current curve and accelerator pedal angle information when a plurality of heavy trucks in a mine run on a gentle road surface in the mine, thereby establishing a gentle road surface vehicle standard model;
gather many heavy trucks in mine the domatic gyroscope angle information, excitation current curve and the accelerator pedal angle information when going of the different angles in mine thereby establish the domatic vehicle standard model of different angles, wherein, the domatic of different angles divide into 16 grades altogether, include: 1 degree slope, 2 degree slope, 3 degree slope, 4 degree slope, 5 degree slope, 6 degree slope, 7 degree slope, 8 degree slope, -1 degree slope, -2 degree slope, -3 degree slope, -4 degree slope, -5 degree slope, -6 degree slope, -7 degree slope, and-8 degree slope;
acquiring running data of a heavy truck in a mine in real time, and recording gyroscope angle information, an excitation current curve and accelerator pedal angle information of the heavy truck in real time; and
comparing the gyroscope angle information, the exciting current curve and the accelerator pedal angle information of the mining heavy truck which are recorded in real time with the standard model of the gentle road vehicle and the standard models of slope vehicles with different angles so as to judge the gentle condition of the current driving road of the mining heavy truck,
and the heavy trucks of the mine are all trucks of the same type.
2. The mining road survey method based on data analysis of a heavy truck of claim 1, further comprising:
and comparing the gyroscope angle information, the exciting current curve and the accelerator pedal angle information of the mine heavy truck recorded in real time with the gentle road vehicle standard model and the slope vehicle standard models at different angles, and sending alarm information to a driver of the mine heavy truck or mine management personnel when the gyroscope angle information, the exciting current curve and the accelerator pedal angle information of the mine heavy truck recorded in real time exceed the gentle road vehicle standard model and the slope vehicle standard models at different angles.
3. A mine road survey system based on heavy truck data analysis, comprising:
the system comprises a standard model building module of the gentle road vehicle, a standard model building module of the gentle road vehicle and a control module, wherein the standard model building module is used for collecting gyroscope angle information, exciting current curves and accelerator pedal angle information when a plurality of mine heavy trucks run on a gentle road of a mine so as to build the standard model of the gentle road vehicle;
the slope vehicle standard model building module is used for collecting gyroscope angle information, exciting current curves and accelerator pedal angle information of a plurality of heavy trucks in the mine when the slopes at different angles run, so as to build slope vehicle standard models at different angles, wherein the slopes at different angles are divided into 16 grades, and the slope vehicle standard model building module comprises: 1 degree slope, 2 degree slope, 3 degree slope, 4 degree slope, 5 degree slope, 6 degree slope, 7 degree slope, 8 degree slope, -1 degree slope, -2 degree slope, -3 degree slope, -4 degree slope, -5 degree slope, -6 degree slope, -7 degree slope, and-8 degree slope;
the real-time acquisition module is used for acquiring the running data of the heavy truck in the mine in real time and recording the gyroscope angle information, the excitation current curve and the accelerator pedal angle information of the heavy truck in real time; and
and the road mild condition judgment module is connected with the mild road surface vehicle standard model building module, the slope vehicle standard model building module and the real-time acquisition module and is used for comparing the gyroscope angle information, the excitation current curve and the accelerator pedal angle information of the mine heavy truck recorded in real time with the mild road surface vehicle standard model and the slope vehicle standard models at different angles so as to judge the mild condition of the current driving road surface of the mine heavy truck.
4. The mining road survey system based on data analysis of heavy trucks of claim 3, characterized in that the mining road survey system further comprises:
and the road condition alarm module is coupled with the road mild condition judgment module and used for sending alarm information to a driver or a mine manager of the mine heavy truck when the gyroscope angle information, the excitation current curve and the accelerator pedal angle information of the mine heavy truck recorded in real time exceed the mild road vehicle standard model and the slope vehicle standard models at different angles.
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