CN111784143A - Automatic ore transportation and scheduling method and system - Google Patents
Automatic ore transportation and scheduling method and system Download PDFInfo
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Abstract
The invention discloses an automatic ore transportation scheduling method and system, belonging to the technical field of industrial and mining railway transportation monitoring, comprising the following steps: recording the shoveling and transporting record information of the current draw shaft, and calculating an ore grade and capacity tracking curve of the draw shaft according to the shoveling and transporting record information; tracking and calculating the ore grade and capacity tracking curve of the ore pass, and generating a dispatching application when the ore capacity of the ore pass exceeds a tolerance set value; generating a transportation operation path sequence according to the dispatching application and the target ore grade yield; according to the sequence of the transportation operation path, automatic ore drawing control and locomotive driving control linkage are carried out in an ore drawing and loading area, and the self-adaptive control of the speed of the sprinkling combined control is realized in an ore unloading area. The invention can realize the unmanned operation of the ore 'shovel loading, transporting and unloading' transportation system, so that the unmanned electric locomotive can safely and reliably bear the unmanned transportation operation task.
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
At present, in the green mine construction tide of ' mechanized people changing, automatic people reduction and intelligent unmanned ', the rail transportation unmanned ' of the industrial and mining railway is being used as an important link of strong safety action of science and technology, and technologies such as remote control of electric locomotives, intelligent scheduling and control of rail transportation, wireless communication and the like are strongly promoted. Related units successively push out a rail transport electric locomotive with a remote control or full-automatic unmanned function, various matching means are assisted, and remote control of underground transport equipment is gradually realized.
Aiming at the production process of the underground metal ore flow, the existing transportation scheduling model basically aims at a manual or remote control driving system, depends on signal safety control in the visual range of an operator, and also depends on the general judgment behavior and the control behavior of the operator for calculating the dynamic safety parameters of the multi-equipment cluster operation. The single equipment remote control or intellectualization can only be used as a basic technical condition, and the multi-equipment cluster unmanned operation of the ore mining and transporting system needs to be realized urgently.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and realize unmanned operation of an ore transportation system.
In order to achieve the purpose, the invention adopts an automatic ore transportation and scheduling method, which comprises the following steps:
recording the shoveling and transporting record information of the current draw shaft, and calculating an ore grade and capacity tracking curve of the draw shaft according to the shoveling and transporting record information;
tracking and calculating the ore grade and capacity tracking curve of the ore pass, and generating a dispatching application when the ore capacity of the ore pass exceeds a tolerance set value;
generating a transportation operation path sequence according to the dispatching application and the target ore grade yield;
according to the sequence of the transportation operation path, automatic ore drawing control and locomotive driving control linkage are carried out in an ore drawing and loading area, and the self-adaptive control of the speed of the sprinkling combined control is realized in an ore unloading area.
Further, the shoveling record information comprises the shoveling ore amount C of the shoveling machine in each timej＝[C1,C2,...,Cn]Scraper ore grade PCj＝[PC1,PC2,...,PCn]And the number L of the sliding well of the mining area of the carry-scraper destinationi＝[L1,L2,...,Lm]；
The generated ore grade and capacity tracking curve
Wherein j is the scraper number; t is tijReceived by pass of No. i mining area for a certain period of time tThe carry-by-carry capacity of a plurality of carry-scraper 1-j; t is tjiThe number of times that a certain j scraper is shoveled and transported to the No. i mining area drop shaft in a certain time period t is represented by x; t is tLiFor a number of locomotives L for a certain period of time t1-LiLoading ore; t isLiFor a certain trip LiAmount of ore transported by locomotive, PcThe amount of ore grade transferred for this pass, PcjThe grade content of the ore carried by the No. j carrying scraper is shown.
Further, the generating a transportation operation path sequence according to the car dispatching application and the target ore grade yield comprises:
according to the received vehicle dispatching application, distributing vehicle dispatching tasks of the to-be-executed locomotive and granting a certain locomotive operation task;
the locomotive generates the pre-occupied route path information permitted by the driving and the driving speed limit curve according to the starting point, the ore loading point and the ore unloading point of the locomotive and the real-time operation path of other vehicles.
Further, according to the transportation operation path sequence, in an ore drawing loading area, automatic ore drawing control and locomotive driving control linkage are carried out, and in an ore unloading area, vehicle speed self-adaptive control of water spraying joint control is realized, and the method comprises the following steps:
according to the transportation operation path sequence, performing autonomous scheduling of vehicles, automatically controlling the electric locomotive to enter a ore drawing and loading operation area of the ore pass, aligning with the ore pass, and automatically linking with the ore drawing machine;
and in the ore unloading area, controlling the electric locomotive to realize water spraying joint control and vehicle speed self-adaptive control, and passing through the ore unloading area according to certain speed inertia.
Further, the allocating a task of dispatching a vehicle to be executed according to the received request for dispatching a vehicle, and granting a certain task of operating a vehicle includes:
obtaining operation priority according to ore grade and capacity tracking curves of the drop shafts of each mining area and loading, unloading and transporting fatigue of each train of locomotives;
according to the received vehicle dispatching application and the operation priority, distributing the vehicle dispatching task for the locomotive to be executed, and granting a certain locomotive operation task.
Further, the fatigue and the priority are agreed as follows:
under the condition that the number N of the operation runs of the current shift is equal, comparing the accumulated commissioning time T of the trip of each train, the heavy-load accumulated mileage Lm and the light-load accumulated mileage Ln in sequence, and preferentially distributing operation tasks for smaller trains;
and when a plurality of job tasks to be executed exist in the shift, on the basis of the sequencing, preferentially distributing the job tasks with larger distance K values of the job task paths of a certain shift in the shift.
In another aspect, an automatic ore transportation and dispatching system is adopted, comprising: carry recorder, automatic ore drawing loading device, on-vehicle automatic control unit and the automatic unit of unloading of ore deposit, carry recorder and automatic ore drawing loading device and be connected, automatic ore drawing loading device is connected with on-vehicle automatic control unit and is carried out two-way communication, and on-vehicle automatic control unit and automatic unit of unloading are connected, wherein:
the shoveling and recording device is used for recording shoveling and recording information of the current orepass and calculating an ore grade and capacity tracking curve of the orepass according to the shoveling and recording information;
the automatic ore drawing and loading device is used for tracking and calculating ore grade and capacity tracking curves of the ore pass and sending vehicle dispatching application to all vehicle-mounted automatic control units when the ore capacity of the ore pass exceeds a tolerance set value;
the vehicle-mounted automatic control unit obtains a transportation operation path according to a vehicle dispatching application sent by the automatic ore drawing and loading device and the target ore grade yield, sends a wagon alignment ore drawing 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 an 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 a wagon opposite ore drawing control instruction;
in the ore unloading area, the automatic ore unloading unit realizes the speed self-adaptive control of the sprinkling combined control according to the sprinkling combined control and speed self-adaptive control instructions.
Further, the shoveling record information comprises the shoveling ore amount C of the shoveling machine in each timej＝[C1,C2,...,Cn]Scraper ore grade PCj＝[PC1,PC2,...,PCn]And the number L of the sliding well of the mining area of the carry-scraper destinationi＝[L1,L2,...,Lm]；
The generated ore grade and capacity tracking curve
Wherein j is the scraper number; t is tijThe shoveling and transporting amount of a plurality of shoveling and transporting machines 1-j received by the ore pass of No. i mining area in a certain time period t; t is tjiThe number of times that a certain j scraper is shoveled and transported to the No. i mining area drop shaft in a certain time period t is represented by x; t is tLiFor a number of locomotives L for a certain period of time t1-LiLoading ore; t isLiFor a certain trip LiAmount of ore transported by locomotive, PcThe amount of ore grade transferred for this pass, PcjThe grade content of the ore carried by the No. j carrying scraper is shown.
Further, the vehicle-mounted automatic control unit comprises a distributed intelligent processing module, the distributed intelligent processing module is used for performing 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, the distributed intelligent processing module comprises a task allocation unit, a registration unit and a transportation operation path sequence generation unit, and the task allocation unit comprises:
the task allocation unit is used for granting a certain locomotive operation task to the locomotive-mounted automatic control unit to be executed according to the received dispatching application and the sequencing condition of the locomotive;
the registration unit is used for registering a control link with the automatic ore drawing and loading device and the automatic ore unloading unit;
the transport operation path sequence generating unit is used for generating the pre-occupied route path information and the driving speed limit curve of the driving license according to the starting point of the self position, the ore loading point and the ore unloading point and in combination with the 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 the ore pass of each mining area and the loading, unloading and transporting fatigue of each train of locomotives;
and the task allocation subunit is used for allocating the dispatching tasks of the locomotives to be executed according to the received dispatching application and the operation priority and granting certain locomotive operation tasks.
Compared with the prior art, the invention has the following technical effects: the invention establishes a vehicle communication network with ore grade ore bin ore volume global tracking and distributed intelligent operation, realizes unmanned autonomous scheduling of a shovel → loading → transporting → unloading transportation system, and has superior usability.
Drawings
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
FIG. 1 is a flow chart of an automatic ore transport scheduling method;
FIG. 2 is a block diagram of an automatic ore transportation and dispatching system;
FIG. 3 is a structural view of an in-vehicle automatic control unit;
FIG. 4 is a block diagram of an input cell circuit;
fig. 5 is a timing diagram of self-diagnosis sampling of the input unit circuit;
FIG. 6 is a block diagram of an output cell circuit;
fig. 7 is an overall work flow diagram of an ore automatic transportation scheduling system.
Detailed Description
To further illustrate 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 disclosure.
As shown in fig. 1, the embodiment discloses an automatic ore transportation scheduling method, which includes the following steps S1 to S4:
s1, recording the shoveling record information of the current ore pass, and calculating an ore grade and capacity tracking curve of the ore pass according to the shoveling record information;
s2, tracking and calculating the ore grade and capacity tracking curve of the ore pass, and generating a dispatching application when the ore capacity of the ore pass exceeds a tolerance set value;
s3, generating a transportation operation path sequence according to the dispatching application and the target ore grade yield;
and S4, according to the sequence of the transportation operation paths, carrying out automatic ore drawing control and locomotive driving control linkage in an ore drawing and loading area, and realizing the speed self-adaptive control of sprinkling combined control in an ore unloading area.
Further, in the step S1, the scraping record information includes the amount of the ore C scraped by the scraper for each timej＝[C1,C2,...,Cn]Scraper ore grade PCj＝[PC1,PC2,...,PCn]And the number L of the sliding well of the mining area of the carry-scraper destinationi＝[L1,L2,...,Lm]；
The generated ore grade and capacity tracking curve
Wherein j is the scraper number; t is tijThe shoveling and transporting amount of a plurality of shoveling and transporting machines 1-j received by the ore pass of No. i mining area in a certain time period t; t is tjiThe number of times that a certain j scraper is shoveled and transported to the No. i mining area drop shaft in a certain time period t is represented by x; t is tLiFor a number of locomotives L for a certain period of time t1-LiLoading ore; t isLiFor a certain trip LiAmount of ore transported by locomotive, PcThe amount of ore grade transferred for this pass, PcjThe grade content of the ore carried by the No. j carrying scraper is shown.
Further, in the step S2, the automatic ore drawing and loading device for each mining area pass tracks the curve L according to the ore grade and capacityi(t)≥LA，LATo produce set points, descriptionAnd (5) the ore in the No. i orepass meets the dispatching condition, and a dispatching application is generated.
Further, the above step S3: according to the dispatching application, a transportation operation path sequence is generated according to the target ore grade yield, and the method comprises the following subdivision steps S31 to S32:
s31, according to the received vehicle dispatching application, distributing vehicle dispatching tasks of the to-be-executed locomotive and granting a certain locomotive operation task;
and S32, generating the pre-occupied path information of the driving license and the driving speed limit curve according to the starting point, the ore loading point and the ore unloading point of the locomotive and the real-time operation path of other vehicles.
Further, the above step S31: according to the received vehicle dispatching application, the vehicle dispatching task allocation is carried out on the to-be-executed locomotive, and a certain locomotive operation task is granted, and the method specifically comprises the following subdivision steps:
obtaining operation priority according to ore grade and capacity tracking curves of the drop shafts of each mining area and loading, unloading and transporting fatigue of each train of locomotives;
according to the received vehicle dispatching application and the operation priority, distributing the vehicle dispatching task for the locomotive to be executed, and granting a certain locomotive operation task.
Wherein, the fatigue degree and the priority are agreed according to the following method:
under the condition that the number N of the operation runs of the current shift is equal, comparing the accumulated commissioning time T of the trip of each train, the heavy-load accumulated mileage Lm and the light-load accumulated mileage Ln in sequence, and preferentially distributing operation tasks for smaller trains;
and when a plurality of job tasks to be executed exist in the shift, on the basis of the sequencing, preferentially distributing the job tasks with larger distance K values of the job task paths of a certain shift in the shift.
Further, the above step S4: according to the sequence of the transportation operation paths, automatic ore drawing control and locomotive driving control linkage are carried out in an ore drawing and loading area, and the speed self-adaptive control of sprinkling combined control is realized in an ore unloading area, and the method comprises the following subdivision steps S41 to S42:
s41, according to the transportation operation path sequence, executing vehicle autonomous scheduling, automatically controlling the electric locomotive to enter a ore pass ore drawing and loading operation area, aligning with the ore pass, and automatically linking with the ore drawing machine;
and S42, controlling the electric locomotive to realize water spraying joint control and vehicle speed self-adaptive control in the ore unloading area, and passing through the ore unloading area according to certain speed inertia.
As shown in fig. 2, the embodiment discloses an automatic ore transportation and dispatching system, which includes: carry recorder, automatic ore drawing loading device, on-vehicle automatic control unit and the automatic unit of unloading of ore deposit, carry recorder and automatic ore drawing loading device and be connected, automatic ore drawing loading device is connected with on-vehicle automatic control unit and is carried out two-way communication, and on-vehicle automatic control unit and automatic unit of unloading are connected, wherein:
the shoveling and recording device is used for recording shoveling and recording information of the current orepass and calculating an ore grade and capacity tracking curve of the orepass according to the shoveling and recording information;
the automatic ore drawing and loading device is used for tracking and calculating ore grade and capacity tracking curves of the ore pass and sending vehicle dispatching application to all vehicle-mounted automatic control units when the ore capacity of the ore pass exceeds a tolerance set value;
the vehicle-mounted automatic control unit obtains a transportation operation path according to a vehicle dispatching application sent by the automatic ore drawing and loading device and the target ore grade yield, sends a wagon alignment ore drawing 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 an 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 a wagon opposite ore drawing control instruction;
in the ore unloading area, the automatic ore unloading unit realizes the speed self-adaptive control of the sprinkling combined control according to the sprinkling combined control and speed self-adaptive control instructions.
It should be noted that the automatic ore drawing and loading device and the automatic ore unloading unit form a main communication network of an ore 'shoveling, loading and unloading' transportation system through a gigabit optical fiber communication interface, the shoveling and transporting recording device and the vehicle-mounted automatic control unit are connected with the main communication network through a WiFi communication interface, the shoveling and transporting recording device establishes a communication data link with the automatic ore drawing and loading device, and the vehicle-mounted automatic control unit establishes a communication data link with the automatic ore drawing and loading device and the automatic ore unloading unit.
In the system, the scraper recording devices can be configured to be 1-16, the automatic ore drawing and loading devices can be configured to be 1-60, the vehicle-mounted automatic control units can be configured to be 1-10, and the automatic ore discharging units can be configured to be 1-3.
Specifically, the shoveling and recording device works in a rubber-tyred vehicle roadway transportation area at the upper port of a chute of a mining area, is installed on an unmanned shoveling and conveying machine, and is used for recording shoveling and conveying recorded information and generating an ore grade and capacity tracking curve by shoveling and conveying the recorded information. Wherein:
the shoveling record information comprises the shoveling ore amount C of each time of the shoveling machinej＝[C1,C2,...,Cn]Scraper ore grade PCj＝[PC1,PC2,...,PCn]And the number L of the sliding well of the mining area of the carry-scraper destinationi＝[L1,L2,...,Lm]；
The generated ore grade and capacity tracking curve
Wherein j is the scraper number; t is tijThe shoveling and transporting amount of a plurality of shoveling and transporting machines 1-j received by the ore pass of No. i mining area in a certain time period t; t is tjiThe number of times that a certain j scraper is shoveled and transported to the No. i mining area drop shaft in a certain time period t is represented by x; t is tLiFor a number of locomotives L for a certain period of time t1-LiLoading ore; t isLiFor a certain trip LiAmount of ore transported by locomotive, PcThe amount of ore grade transferred for this pass, PcjThe grade content of the ore carried by the No. j carrying scraper is shown.
The shoveling and transporting recording device sends the ore grade and capacity tracking curve to the LiThe automatic ore drawing and loading device is used for sending the ore drawing and loading signals to all vehicle-mounted automatic control lists in real timeYuan TLi＝[W1,W2,...,Wn]In which P isCFor producing a target grade, WnIs TLiWagon ID number, m drawn by a locomotivemax＝60，nmax＝12。
Specifically, taking the recording process of the No. 3 scraper (j ═ 3) in the No. 1 mining area ore pass as an example, the ore quantity of the mining area ore pass is determined by the scraper scraping data of the upper opening of the ore pass and the ore drawing data of the lower opening of the ore pass. If only the No. 3 scraper operates in the No. 1 mining area drop shaft in a certain shift, j is tijWhen the number of scoops x is equal to 1, tjiGrade is P100 ═ 100C3The number of times of transfer is tLiWhen the ore quantity of the ore containing the ore pass is 20, the ore quantity of the ore pass is 100 × C3The transfer capacity was 20 × TL3The real-time data of ore grade and capacity tracking curve is
Specifically, the automatic ore drawing and loading device is installed at the lower opening of a drop shaft of a mining area, receives wagon alignment ore drawing control from a vehicle-mounted automatic control unit, and performs accurate linkage of automatic ore drawing control and locomotive driving control, and the specific method is described by another patent of the applicant 'CN 106696973B ore grade-based ore blending scheduling system and a control method thereof'.
Specifically, the vehicle-mounted automatic control unit relies on vehicle-mounted obstacle recognition protection, automatically obtains a transportation operation path according to the grade yield of target ore according to the application from an automatic ore drawing and loading device, executes a vehicle unmanned instruction and an ore drawing instruction of an ore drawing machine, implements automatic vehicle skin alignment ore drawing control in an ore drawing and loading area, and performs accurate linkage of automatic ore drawing control and locomotive driving control; and in the ore unloading area, the sprinkling joint control and the vehicle speed self-adaptive control are carried out on the automatic ore unloading unit. As shown in fig. 3, the in-vehicle automatic control unit is installed in a vehicle cab and includes an input unit circuit, an output unit circuit, and a distributed intelligent processing module.
As shown in fig. 4, the input unit circuit adopts a fault real-time self-diagnosis design, a self-detection signal generation circuit and a switching value input detection circuit are arranged in the circuit, a detection signal and a switching value are superposed, a mode of combining hardware filtering and software filtering is adopted, as shown in fig. 5, the detected switching value and the self-detection signal are connected in parallel to an input terminal a of the switching value input detection circuit, and if the end a is at a high level of V2, a photoelectric isolation device is triggered to be switched on, so that the input terminal B of the input detection circuit is at a high level of V1; on the contrary, if the terminal a is at a low level, the input terminal B of the input detection circuit is at a low level, thereby ensuring that the input detection result is authentic.
TABLE 1 self-diagnosis state safety measure table for input detection circuit
| Serial number | Working state | Detection sequence | Safety measures |
| 1 | Switch closure | 00110000，…… | Normal operation |
| 2 | Switch off | 00000000，…… | Guiding safety side |
| 3 | Open circuit fault of |
00000000，…… | Guiding safety side |
| 4 | Short circuit fault of signal acquisition circuit | 11111111，…… | Guiding safety side |
| 5 | Open circuit fault of pulse self-checking |
00000000，…… | Guiding safety side |
| 6 | Short-circuit fault of pulse self-checking circuit | 11111111，…… | Guiding safety side |
| 7 | Self-checking pulse frequency offset fault | 0x00～0xFF | Guided safety, triggered 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 Table 1, reference signals are used as clock reference, after the rising edge of each reference signal is triggered, the CPU reads level information of a B end of a periodic input signal, the level information is compared with the waveform of a self-detection signal, and if the self-detection signals are the same, the acquisition circuit has no fault; if other detection sequences appear, the faults such as interface power loss, open circuit and short circuit of the acquisition circuit, open circuit and short circuit of the detection pulse, frequency deviation of the detection pulse and the like can be judged. And if and only if the unmanned setting switch is in a safety detection state, constructing the 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 line detection function, and can detect an abnormal state of short circuit or open circuit of a connection line with a controlled object and output an execution result, and when the output circuit module detects a dangerous failure of itself, the output can be directed to a safe 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 terminals to control the positive and negative terminals of the solenoid valve respectively, two feedback tests are set to cross and mutually detect the output of the other side, and simultaneously, one feedback test is set to detect the execution state of the solenoid valve.
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, and includes a task allocation unit, a registration unit, and a transportation operation path sequence generation unit, where:
the task allocation unit is used for granting a certain locomotive operation task to the locomotive-mounted automatic control unit to be executed according to the received dispatching application and the sequencing condition of the locomotive;
the registration unit is used for registering a control link with the automatic ore drawing and loading device and the automatic ore unloading unit;
the transport operation path sequence generating unit is used for generating the pre-occupied route path information and the driving speed limit curve of the driving license according to the starting point of the self position, the ore loading point and the ore unloading point and in combination with the real-time operation paths of other vehicles.
Specifically, the task allocation unit includes a job priority calculation subunit and a task allocation subunit, where:
the operation priority calculating subunit is used for obtaining the operation priority according to the ore grade and capacity tracking curve of the ore pass of each mining area and the loading, unloading and transporting fatigue of each train of locomotives;
and the task allocation subunit is used for allocating the dispatching tasks of the locomotives to be executed according to the received dispatching application and the operation priority and granting certain locomotive operation tasks.
Preferably, "fatigue" and "priority" are agreed upon as follows:
the first condition is as follows: the accumulated commissioning time T, the heavy-load accumulated mileage Lm and the light-load accumulated mileage Ln of each train are commissioned;
and a second condition: the number N of work passes in the current shift and the distance K of a certain work task path in the current shift;
when the number N of the work runs of a shift is equal, the work runs are compared according to the sequence of T, Lm and Ln, and the smaller one preferentially distributes the work tasks;
when a plurality of job tasks to be executed exist in the shift at the same time, the job tasks with larger K values are preferentially distributed on the basis of the sequencing of T, Lm and Ln.
Further, under the condition of vehicle-mounted obstacle identification and protection, the vehicle-mounted automatic control unit controls the automatic ore drawing and loading device and the automatic ore discharging unit to work according to the following steps:
(1) according to the sequence of the transportation operation paths, executing the autonomous scheduling of the vehicles, and automatically controlling the electric locomotive to enter the ore drawing and loading operation area of the ore pass;
(2) performing accurate alignment of 'vehicle → chute opening' in an ore drawing and loading operation area of the chute, and automatically performing joint control with an ore drawing machine;
(3) and in the ore unloading area, spraying water to the automatic ore unloading unit for joint control, performing self-adaptive control on the speed of the ore unloading unit, and passing through the ore unloading area at a certain speed through inertia.
It should be noted that, the vehicle-mounted automatic control unit designed in this embodiment adopts a self-diagnosis and failure safety design technology, introduces a distributed resource preemption management strategy, and performs a standard expression on an equipment working mode and a system operation level, so that a single-machine equipment reaches a functional safety level of SIL4, and further, a system-level unmanned operation of 'shovel → loading → transporting → unloading' transportation equipment is realized, and the vehicle-mounted automatic control unit has superior safety.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An automatic ore transportation scheduling method is characterized by comprising the following steps:
recording the shoveling and transporting record information of the current draw shaft, and calculating an ore grade and capacity tracking curve of the draw shaft according to the shoveling and transporting record information;
tracking and calculating the ore grade and capacity tracking curve of the ore pass, and generating a dispatching application when the ore capacity of the ore pass exceeds a tolerance set value;
generating a transportation operation path sequence according to the dispatching application and the target ore grade yield;
according to the sequence of the transportation operation path, automatic ore drawing control and locomotive driving control linkage are carried out in an ore drawing and loading area, and the self-adaptive control of the speed of the sprinkling combined control is realized in an ore unloading area.
2. The automatic ore transportation scheduling method of claim 1, wherein the shoveling record information includes a shoveling ore amount C per pass of the shovelj＝[C1,C2,...,Cn]Scraper ore grade PCj＝[PC1,PC2,...,PCn]And the number L of the sliding well of the mining area of the carry-scraper destinationi＝[L1,L2,...,Lm]；
The generated ore grade and capacity tracking curve
Wherein j is the scraper number; t is tijThe shoveling and transporting amount of a plurality of shoveling and transporting machines 1-j received by the ore pass of No. i mining area in a certain time period t; t is tjiThe number of times that a certain j scraper is shoveled and transported to the No. i mining area drop shaft in a certain time period t is represented by x; t is tLiFor a number of locomotives L for a certain period of time t1-LiLoading ore; t isLiFor a certain trip LiAmount of ore transported by locomotive, PcFor the ore grade transported in this pass, PcjThe grade content of the ore carried by the No. j carrying scraper is shown.
3. The method for automatic ore transportation scheduling according to claim 1, wherein the generating of the sequence of transportation operation paths according to the target ore grade yield according to the car dispatching application comprises:
according to the received vehicle dispatching application, distributing vehicle dispatching tasks of the to-be-executed locomotive and granting a certain locomotive operation task;
the locomotive generates the pre-occupied route path information permitted by the driving and the driving speed limit curve according to the starting point, the ore loading point and the ore unloading point of the locomotive and the real-time operation path of other vehicles.
4. The automatic ore transportation scheduling method of claim 1, wherein the automatic ore drawing control and locomotive driving control linkage are carried out in the ore drawing and loading area and the vehicle speed adaptive control of sprinkling combined control is realized in the ore unloading area according to the transportation operation path sequence, and the method comprises the following steps:
according to the transportation operation path sequence, performing autonomous scheduling of vehicles, automatically controlling the electric locomotive to enter a ore drawing and loading operation area of the ore pass, aligning with the ore pass, and automatically linking with the ore drawing machine;
and in the ore unloading area, controlling the electric locomotive to realize water spraying joint control and vehicle speed self-adaptive control, and passing through the ore unloading area according to certain speed inertia.
5. The method for scheduling automatic ore transportation according to claim 3, wherein the allocating the dispatching task to the locomotive to be executed according to the received dispatching application, and granting the locomotive operation task comprises:
obtaining operation priority according to ore grade and capacity tracking curves of the drop shafts of each mining area and loading, unloading and transporting fatigue of each train of locomotives;
according to the received vehicle dispatching application and the operation priority, distributing the vehicle dispatching task for the locomotive to be executed, and granting a certain locomotive operation task.
6. The automatic ore transportation scheduling method of claim 5, wherein the fatigue and the priority are agreed as follows:
under the condition that the number N of the operation runs of the current shift is equal, comparing the accumulated commissioning time T of the trip of each train, the heavy-load accumulated mileage Lm and the light-load accumulated mileage Ln in sequence, and preferentially distributing operation tasks for smaller trains;
and when a plurality of job tasks to be executed exist in the shift, on the basis of the sequencing, preferentially distributing the job tasks with larger distance K values of the job task paths of a certain shift in the shift.
7. An automatic ore transportation and dispatching system, comprising: carry recorder, automatic ore drawing loading device, on-vehicle automatic control unit and the automatic unit of unloading of ore deposit, carry recorder and automatic ore drawing loading device and be connected, automatic ore drawing loading device is connected with on-vehicle automatic control unit and is carried out two-way communication, and on-vehicle automatic control unit and automatic unit of unloading are connected, wherein:
the shoveling and recording device is used for recording shoveling and recording information of the current orepass and calculating an ore grade and capacity tracking curve of the orepass according to the shoveling and recording information;
the automatic ore drawing and loading device is used for tracking and calculating ore grade and capacity tracking curves of the ore pass and sending vehicle dispatching application to all vehicle-mounted automatic control units when the ore capacity of the ore pass exceeds a tolerance set value;
the vehicle-mounted automatic control unit obtains a transportation operation path according to a vehicle dispatching application sent by the automatic ore drawing and loading device and the target ore grade yield, sends a wagon alignment ore drawing 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 an 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 a wagon opposite ore drawing control instruction;
in the ore unloading area, the automatic ore unloading unit realizes the speed self-adaptive control of the sprinkling combined control according to the sprinkling combined control and speed self-adaptive control instructions.
8. The automatic ore transport and dispatch system of claim 7, wherein the scraper log information includes a scraper's scraper ore volume per pass Cj＝[C1,C2,...,Cn]Scraper ore grade PCj＝[PC1,PC2,...,PCn]And the number L of the sliding well of the mining area of the carry-scraper destinationi＝[L1,L2,...,Lm]；
The generated ore grade and capacity tracking curve
Wherein j is the scraper number; t is tijThe shoveling and transporting amount of a plurality of shoveling and transporting machines 1-j received by the ore pass of No. i mining area in a certain time period t; t is tjiThe number of times that a certain j scraper is shoveled and transported to the No. i mining area drop shaft in a certain time period t is represented by x; t is tLiFor a number of locomotives L for a certain period of time t1-LiLoading ore; t isLiFor a certain trip LiAmount of ore transported by locomotive, PcThe amount of ore grade transferred for this pass, PcjThe grade content of the ore carried by the No. j carrying scraper is shown.
9. The automatic ore transportation and scheduling system of claim 7, wherein the vehicle-mounted automatic control unit comprises a distributed intelligent processing module, the distributed intelligent processing module is used for performing distributed operation according to the ore grade and capacity tracking curve of each mining area pass and the target ore grade yield to generate a transportation operation path sequence, the distributed intelligent processing module comprises a task allocation unit, a registration unit and a transportation operation path sequence generation unit, and the task allocation unit, the registration unit and the transportation operation path sequence generation unit are respectively used for:
the task allocation unit is used for granting a certain locomotive operation task to the locomotive-mounted automatic control unit to be executed according to the received dispatching application and the sequencing condition of the locomotive;
the registration unit is used for registering a control link with the automatic ore drawing and loading device and the automatic ore unloading unit;
the transport operation path sequence generating unit is used for generating the pre-occupied route path information and the driving speed limit curve of the driving license according to the starting point of the self position, the ore loading point and the ore unloading point and in combination with the real-time operation paths of other vehicles.
10. The automatic ore transport scheduling system of claim 9 wherein 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 the ore pass of each mining area and the loading, unloading and transporting fatigue of each train of locomotives;
and the task allocation subunit is used for allocating the dispatching tasks of the locomotives to be executed according to the received dispatching application and the operation priority and granting certain locomotive operation tasks.
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