CN114430527A

CN114430527A - Strip mine yield determination method, device, system, chip and terminal

Info

Publication number: CN114430527A
Application number: CN202210357284.4A
Authority: CN
Inventors: 张航; 付友华; 张振良
Original assignee: Qingdao Vehicle Intelligence Pioneers Inc
Current assignee: Qingdao Vehicle Intelligence Pioneers Inc
Priority date: 2022-04-07
Filing date: 2022-04-07
Publication date: 2022-05-03
Anticipated expiration: 2042-04-07
Also published as: CN114430527B

Abstract

The application provides a method, a device, a system, a chip and a terminal for determining the yield of an open-pit mine, and relates to the technical field of control or adjustment systems of non-electric variables. The method comprises the following steps: sending first scheduling information to the mining transportation vehicle to control the mining transportation vehicle to perform production work; acquiring positioning information and vehicle information of the mining transport vehicle in the production process of the mining transport vehicle; identifying a production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle; when the mining transport vehicle completes the last production service link in the preset production work period, determining that the mining transport vehicle completes one production work period; and determining the yield of the mining transportation vehicle according to the number of the production work periods. According to the method and the device, the production business link of the vehicle is accurately identified by combining the positioning information and the whole vehicle information, so that the transportation quantity of the mining transportation vehicle is automatically and accurately measured, and the automation degree of the transportation quantity measurement is improved.

Description

Strip mine yield determination method, device, system, chip and terminal

Technical Field

The present application relates to the technical field of non-electrical variable control or adjustment systems, and more particularly, to a method, a device, a chip, a terminal, a server, a computer-readable storage medium, and a system for determining open-pit mine yield.

Background

Currently, the main methods of identifying opencast mine production include: in the first method, a radio frequency transmission technology is adopted. And counting the yield by installing an identification card on the vehicle and installing a card reader at the key point. And secondly, measuring the earthwork by adopting a surveying and mapping mode. And obtaining the amount of the prescription in a certain period of time for settlement of the production yield of the mine.

However, the above method has the following technical problems:

the method can only identify the number of vehicle passes, and can not subdivide the industrial links.

The refinement degree of the measurement of the second method is not high, the statistics of the single vehicle transportation amount cannot be realized, and the settlement is usually carried out by taking a month as a unit.

Disclosure of Invention

In view of the above, the present application provides a method for determining the yield of a strip mine, a device for determining the yield of a strip mine, a chip, a terminal, a server, a computer-readable storage medium, and a system for determining the yield of a strip mine, which implement accurate identification of production business links of mining transportation vehicles and automatic and accurate metering of transportation volumes of mining transportation vehicles.

In a first aspect, an embodiment of the present application provides a method for determining a yield of an open pit mine, including: sending first scheduling information to the mining transportation vehicle to control the mining transportation vehicle to perform production work; acquiring positioning information and vehicle information of the mining transport vehicle in the production process of the mining transport vehicle; identifying a production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle; when the mining transport vehicle completes the last production service link in the preset production work period, determining that the mining transport vehicle completes one production work period; and determining the yield of the mining transportation vehicle according to the number of the production work periods.

The method for determining the yield of the strip mine according to the embodiment of the application can further have the following additional technical characteristics:

in the above technical solution, optionally, the method further includes: sending second scheduling information to the cooperative work vehicle to control the cooperative work vehicle to carry out production work; the second scheduling information corresponds to the first scheduling information; acquiring positioning information and whole vehicle information of a cooperative work vehicle; and identifying the production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle and the positioning information and the whole vehicle information of the cooperative operation vehicle.

In any of the above technical solutions, optionally, after determining that the mining transportation vehicle completes one production work cycle, the method further includes: recording the duration of each production business link of the mining transport vehicle; and adjusting the scheduling information according to the duration of each production business link.

In any of the above technical solutions, optionally, identifying the production business link where the mining transportation vehicle is located according to the positioning information and the entire vehicle information of the mining transportation vehicle includes: carrying out data cleaning processing on the positioning information of the mining transportation vehicle, and filtering invalid data and drifting data; and identifying the production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle after data cleaning processing.

In any of the above technical solutions, optionally, the vehicle information includes at least one of the following: gear information, speed information, lifting information, start and stop information, no-load information and full-load information.

In any of the above technical solutions, optionally, identifying a production business link where the mining transportation vehicle is located according to the positioning information and the entire vehicle information of the mining transportation vehicle and the positioning information and the entire vehicle information of the cooperative operation vehicle includes: under the condition that the mining transport vehicle starts from the starting point position in a no-load way according to the positioning information of the mining transport vehicle, the speed information of the mining transport vehicle and the no-load information, determining that a production business link where the mining transport vehicle is located is in a no-load transport state; determining that the mining transport vehicle enters a loading waiting area according to the positioning information of the mining transport vehicle, and determining that the mining transport vehicle stops according to the gear information and the speed information of the mining transport vehicle, wherein the production business link where the mining transport vehicle is located is in a waiting loading state; determining that the running track of the mining transport vehicle presents a preset shape according to the positioning information of the mining transport vehicle, determining that the mining transport vehicle has switching operations of forward movement, parking, backward movement and parking according to the gear information of the mining transport vehicle, and determining that the mining transport vehicle is in a production business link of entering a loading area state under the condition that the mining transport vehicle reaches the loading area according to the positioning information of the mining transport vehicle; determining that the mining transport vehicle is located at a target loading point according to the positioning information of the mining transport vehicle, and determining that the mining transport vehicle stops according to the gear information and the speed information of the mining transport vehicle; meanwhile, determining that the cooperative work vehicle is located at a target loading point according to the positioning information of the cooperative work vehicle, and determining that the cooperative work vehicle stops according to the gear information and the speed information of the cooperative work vehicle; determining that the production business link of the mining transport vehicle is in a loading execution state under the condition that the distance between the mining transport vehicle and the cooperative operation vehicle is smaller than the preset distance; under the condition that the loading execution state of the mining transport vehicle is determined, and the mining transport vehicle is determined to be in a full-load driving-away loading area according to the positioning information and the full-load information of the mining transport vehicle, determining that a production business link where the mining transport vehicle is located is a loading departure state; and under the condition that the mining transport vehicle is driven from the loading area to the unloading area in a full-load mode according to the positioning information and the full-load information of the mining transport vehicle, determining that the production business link where the mining transport vehicle is located is in a heavy-load transport state.

In any of the above technical solutions, optionally, identifying a production business link where the mining transportation vehicle is located according to the positioning information and the entire vehicle information of the mining transportation vehicle, and the positioning information and the entire vehicle information of the cooperative operation vehicle, further includes: determining that the production business link where the mining transport vehicle is located is in a waiting unloading state under the condition that the mining transport vehicle is determined to enter an unloading waiting area according to the positioning information of the mining transport vehicle and the mining transport vehicle is determined to stop according to the gear information and the speed information of the mining transport vehicle; determining that the running track of the mining transport vehicle presents a preset shape according to the positioning information of the mining transport vehicle, determining that the mining transport vehicle has switching operations of forward movement, parking, backward movement and parking again according to the gear information of the mining transport vehicle, and determining that the mining transport vehicle is in a production business link of entering an unloading area state under the condition that the mining transport vehicle reaches the unloading area according to the positioning information of the mining transport vehicle; determining that the mining transport vehicle is located at a target unloading point according to the positioning information of the mining transport vehicle, and determining that a production business link where the mining transport vehicle is located is in an unloading execution state under the condition that the lifting information of the mining transport vehicle is obtained; and under the condition that the unloading execution state of the mining transport vehicle is determined, and the mining transport vehicle is determined to run away from the unloading area in a no-load mode according to the positioning information and the no-load information of the mining transport vehicle, determining that the production business link where the mining transport vehicle is located is the unloading leaving state.

In a second aspect, an embodiment of the present application provides an open pit mine yield determination apparatus, including: the sending module is used for sending first scheduling information to the mining transport vehicle so as to control the mining transport vehicle to carry out production work; the acquisition module is used for acquiring positioning information and vehicle information of the mining transport vehicle in the production process of the mining transport vehicle; the identification module is used for identifying the production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle; the determining module is used for determining that the mining transport vehicle completes one production working cycle when the mining transport vehicle completes the last production service link in the preset production working cycle, and determining the output of the mining transport vehicle according to the number of the production working cycles.

In a third aspect, embodiments of the present application provide a chip, where the chip includes at least one processor and a communication interface, where the communication interface is coupled to the at least one processor, and the at least one processor is configured to execute a program or instructions to implement the steps of the method according to the first aspect.

In a fourth aspect, an embodiment of the present application provides a terminal, where the terminal includes the apparatus according to the second aspect.

In a fifth aspect, embodiments of the present application provide a server, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the method according to the first aspect.

In a sixth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the method according to the first aspect.

In a seventh aspect, an embodiment of the present application provides a strip mine yield determination system, including a plurality of mining transportation vehicles provided with positioning devices, and the server according to the fifth aspect, where the server is in data communication with the mining transportation vehicles; the server is used for sending first scheduling information to the mining transport vehicle so as to control the mining transport vehicle to carry out production work; the mining transport vehicle is used for acquiring positioning information and vehicle information of the mining transport vehicle during production work of the mining transport vehicle, and uploading the positioning information and the vehicle information to the server; the server is also used for identifying the production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle, determining that the mining transport vehicle completes one production work cycle when the mining transport vehicle completes the last production business link in the preset production work cycle, and determining the output of the mining transport vehicle according to the number of the production work cycles.

The above-described strip mine yield determination system according to an embodiment of the present application may further have the following additional technical features:

in the above technical solution, optionally, the system further includes a plurality of cooperative work vehicles provided with the positioning device; the server is also used for sending second scheduling information to the cooperative work vehicle so as to control the cooperative work vehicle to carry out production work; the second scheduling information corresponds to the first scheduling information; the cooperative operation vehicle is used for acquiring self positioning information and vehicle information and uploading the self positioning information and the vehicle information to the server; the server is also used for identifying the production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle and the positioning information and the whole vehicle information of the cooperative operation vehicle.

In any of the above technical solutions, optionally, the server is further configured to store a mine area geographic information system map, and generate the scheduling information according to the mine area geographic information system map and the scheduling algorithm.

In any of the above technical solutions, optionally, the mining transportation vehicle is provided with a vehicle weighing system, and the vehicle weighing system is configured to acquire load information of the mining transportation vehicle and upload the load information of the mining transportation vehicle to the server.

The mining transport vehicle scheduling method has the beneficial effects that the mining transport vehicle is controlled to carry out production work in the strip mine according to the first scheduling information by sending the first scheduling information to the mining transport vehicle. And in the production process of the mining transport vehicle, acquiring the positioning information and the whole vehicle information of the mining transport vehicle, automatically judging the production business link of the mining transport vehicle based on the positioning information and the whole vehicle information, and determining that the mining transport vehicle completes one production work cycle when the mining transport vehicle completes the last production business link in the preset production work cycle, thereby determining the yield of the mining transport vehicle according to the number of the production work cycles. According to the embodiment of the application, on one hand, the accurate identification of the production business link of the mining transport vehicle is realized not only according to the positioning information of the mining transport vehicle but also by combining the whole vehicle information of the mining transport vehicle; on the other hand, according to the identified production business link, the automatic and accurate measurement of the transportation volume of the mining transportation vehicle is realized, and the automation degree of the transportation volume measurement is improved.

The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 shows a schematic flow diagram of a method for strip mine production determination according to an embodiment of the present application;

FIG. 2 illustrates a schematic diagram of a production business segment of a vehicle according to an embodiment of the present application;

fig. 3 is a block diagram schematically illustrating the structure of an open pit production determining apparatus according to an embodiment of the present application;

fig. 4 is a schematic block diagram of a structure of a chip provided in an embodiment of the present application;

fig. 5 is a block diagram schematically illustrating a structure of a terminal according to an embodiment of the present application;

fig. 6 is a block diagram showing a schematic structure of a server according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present disclosure.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

The method for determining the yield of a strip mine, the device for determining the yield of a strip mine, the chip, the terminal, the server, the computer-readable storage medium and the system for determining the yield of a strip mine provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

In this embodiment there is provided a method of strip mine production determination, as shown in figure 1, the method comprising:

step 101, sending first scheduling information to a mining transportation vehicle to control the mining transportation vehicle to perform production work;

specifically, in this step, for example, the first scheduling information includes target loading point information, target unloading point information, and a first travel reference path from a starting position (e.g., a parking lot) of the mining transportation vehicle to the target loading point and a second travel reference path from the target loading point to the target unloading point. The server sends first scheduling information to the mining transport vehicle, controls the mining transport vehicle to drive from the starting position to the target loading point according to the first driving reference path to complete the loading task, and controls the mining transport vehicle to drive from the target loading point to the target unloading point according to the second driving reference path to complete the unloading task after the mining transport vehicle completes the loading task.

102, acquiring positioning information and vehicle information of the mining transport vehicle in the production process of the mining transport vehicle;

specifically, in this step, in the process that the mining transportation vehicle travels from the parking lot to the target loading point according to the first travel reference path and travels from the target loading point to the target unloading point according to the second travel reference path, the server performs data interaction with a positioning device arranged on the mining transportation vehicle to obtain positioning information and vehicle information of the mining transportation vehicle in real time, where the vehicle information includes at least one of the following: gear information, speed information, lifting information, start and stop information, no-load information and full-load information. The information type and the number of the information in the whole vehicle information are not further limited.

103, identifying a production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle;

specifically, in this step, the production business links sequentially include from beginning to end: the method comprises the following steps of determining the position of a mining transport vehicle in a mining area according to positioning information of the mining transport vehicle, and determining a production business link of the mining transport vehicle according to whole vehicle information of the mining transport vehicle.

104, when the mining transport vehicle completes the last production service link in the preset production work period, determining that the mining transport vehicle completes one production work period;

specifically, in this step, taking the first trip to work as an example, the mining transportation vehicle starts from a certain departure point in a parking lot or a mining area, the state of the mining transportation vehicle is an "empty transportation state", for example, the state from the initial state "empty transportation state" to the last production service link "unloading execution state" in step 103 is a preset production work period, and when the mining transportation vehicle completes the "unloading execution state" production service link, that is, completes unloading, it is determined that the mining transportation vehicle completes one production work period. If the operation is not the first trip of working, the mining transport vehicle starts from the target unloading point, the unloading leaving state of the mining transport vehicle is switched to the initial state of no-load transport state, then the initial state of no-load transport state is switched to the last production service link of unloading execution state in step 103, and when the mining transport vehicle completes the production service link of unloading execution state, namely unloading is completed, the mining transport vehicle is determined to complete a production work period.

And 105, determining the yield of the mining transportation vehicle according to the number of the production work periods.

Specifically, in this step, assuming that the number of production work cycles completed by the mining transportation vehicle is 20, the yield of the mining transportation vehicle is determined to be 20 cars.

In this embodiment, the method for determining the open pit mine yield is applied to a server, and the server mainly comprises two parts of work: (1) building a wireless network of the open-pit mine area, and opening communication links of the mining transportation vehicle, the cooperative operation vehicle and the server to realize data interaction; (2) and a platform data center is established, so that the functions of commanding and scheduling the mine transportation vehicle, establishing a Geographical Information System (GIS) map of a mine area, storing vehicle positioning data and the like are realized.

The server sends scheduling information to the mining transportation vehicle through a mine GIS map in combination with a scheduling algorithm, and simultaneously provides a range of a target point area for judging whether the mining transportation vehicle reaches the target point (such as a loading area, an unloading area, a crushing station and the like), wherein the first scheduling information comprises a scheduling target, a driving reference path and other information, and the scheduling target comprises a target loading point and a target unloading point (such as the target unloading point comprises a dumping site unloading point, the crushing station and the like), so that the mining transportation vehicle can perform production work in the open pit according to the scheduling information. During the production work of the mining transportation vehicle, a Positioning device (for example, the Positioning device includes a Global Navigation Satellite System (GNSS)) is used for acquiring self Positioning information, monitoring of self position is achieved, the Positioning information is uploaded to a server (for example, the Positioning information includes GPS (Global Positioning System) data), meanwhile, the whole vehicle information is acquired, and the whole vehicle information is uploaded to the server through a communication unit interface of a vehicle-mounted tbox (telematics box).

The server receives the positioning information and the whole vehicle information uploaded by the vehicle, performs comprehensive analysis by combining mine road network, region and scheduling information based on the positioning information and the whole vehicle information, automatically identifies a production business link of the mining transport vehicle, and determines that the mining transport vehicle completes one production work cycle when the mining transport vehicle completes the last production business link in a preset production work cycle, thereby determining the yield of the mining transport vehicle according to the number of the production work cycles.

Therefore, according to the technical scheme, on one hand, the accurate identification of the production business link of the mining transport vehicle is realized not only according to the positioning information of the mining transport vehicle but also by combining the whole vehicle information of the mining transport vehicle; on the other hand, according to the identified production business link, the automatic and accurate measurement of the transportation volume of the mining transportation vehicle is realized, and the automation degree of the transportation volume measurement is improved.

It should be noted that the mining transportation vehicle in the embodiment of the present application may be an unmanned vehicle, and may also be a manned vehicle, which is not limited specifically herein.

In addition, because the embodiment of the application can determine one production work cycle of the mining transportation vehicle, the automatic metering of the vehicle yield can be realized.

In an embodiment of the present application, further, the method further includes: sending second scheduling information to the cooperative work vehicle to control the cooperative work vehicle to carry out production work; the second scheduling information corresponds to the first scheduling information; acquiring positioning information and whole vehicle information of the cooperative work vehicle; and identifying the production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle and the positioning information and the whole vehicle information of the cooperative operation vehicle.

Specifically, after sending first scheduling information to the mining transportation vehicle, the server queries a map of a loading area of a mining area, determines a cooperative work vehicle (such as an excavator, an electric shovel and the like) closest to a target loading point in the first scheduling information, and sends second scheduling information to the cooperative work vehicle, wherein the second scheduling information comprises the same target loading point as the first scheduling information and a third travel reference path from the current position of the cooperative work vehicle to the target loading point, the second scheduling information corresponds to the first scheduling information, and the target loading point mainly represented in the first scheduling information is the same as the target loading point in the second scheduling information; in the process that the cooperative work vehicle drives to the target loading point from the current position according to the third running reference path, the server performs data interaction with a positioning device arranged on the cooperative work vehicle to acquire positioning information and finished vehicle information of the cooperative work vehicle in real time, wherein the finished vehicle information comprises at least one of the following items: gear information, speed information and start-stop information. The information type and the number of the information in the whole vehicle information are not further limited. The server determines distance information between the mining transport vehicle and the cooperative operation vehicle according to the positioning information of the cooperative operation vehicle and the positioning information of the mining transport vehicle, and further identifies a production business link where the mining transport vehicle is located according to the positioning information and the whole vehicle information of the mining transport vehicle, the positioning information and the whole vehicle information of the cooperative operation vehicle and the distance information between the mining transport vehicle and the cooperative operation vehicle.

Therefore, according to the technical scheme, the production business link is identified by combining the positioning information and the whole vehicle information of the mining transport vehicle, the positioning information and the whole vehicle information of the cooperative operation vehicle and the distance information between the mining transport vehicle and the cooperative operation vehicle, so that the positioning information can be prevented from drifting, and the identification accuracy of the production business link is improved.

In the embodiment of the present application, further, after determining that the mining transportation vehicle completes one production work cycle, the method further includes: recording the duration of each production business link of the mining transportation vehicle; and adjusting the scheduling information according to the duration of each production business link.

In this embodiment, the duration of each production service link can be counted to form a time report of each link of the production service. Specifically, timing is performed when the beginning of the current production business link is identified, and timing is finished when the end of the current production business link is identified, so that the duration of the production business link is obtained.

By the mode, report data of each link of refined production service can be provided, the report data comprises no-load transportation time length, loading waiting time length, loading area entering time length, loading execution time length, loading departure time length, heavy-load transportation time length, unloading waiting time length, unloading area entering time length, unloading execution time length and unloading departure time length, the production running loss time of each link is subjected to refined analysis to provide a basis, further, the production running loss time of each link can be fed back to a scheduling algorithm for on-site optimized scheduling, the production efficiency is improved more accurately, and the scheduling effect of a production manager on the production service is improved.

In the embodiment of the application, further, identifying the production business link where the mining transportation vehicle is located according to the positioning information and the whole vehicle information of the mining transportation vehicle includes: carrying out data cleaning processing on the positioning information of the mining transportation vehicle, and filtering invalid data and drifting data; and identifying the production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle after the data cleaning processing.

In this embodiment, the server processes the received positioning information for the mining haulage vehicle. Specifically, the positioning information is cleaned, invalid data and drifting data in the positioning information are filtered, and a set of useful data is established for calling a production service identification algorithm.

By the mode, effective positioning information is obtained, and therefore the accuracy of production business link identification is improved.

It should be noted that, the method and the device not only perform data cleaning processing on the self-positioning information uploaded by the mining transport vehicle to filter out invalid data and drifting data of the self-positioning information uploaded by the cooperative operation vehicle, but also perform data cleaning processing on the self-positioning information uploaded by the cooperative operation vehicle to filter out invalid data and drifting data of the self-positioning information uploaded by the cooperative operation vehicle, so that effective positioning information of the mining transport vehicle and the cooperative operation vehicle is obtained respectively, and accuracy of production business link identification is further guaranteed.

In the embodiment, the server is connected with the vehicle-mounted TBOX through the CAN bus, and the gear information, the speed information, the lifting information, the start-stop information, the no-load information, the full-load information and other whole vehicle information of the mining transport vehicle are transmitted to the server through the vehicle-mounted TBOX, so that the server CAN accurately identify production business links according to the positioning information and the whole vehicle information of the mining transport vehicle.

It should be noted that, before the mining transportation vehicle uploads the whole vehicle information to the server, the whole vehicle information is cleaned and processed, and invalid data in the whole vehicle information is filtered out, so that on one hand, the uploaded information can be prevented from being excessively redundant, and on the other hand, the identification accuracy of the identified production business link can be ensured.

In the embodiment of the present application, as shown in fig. 2, a production business link of a mining transportation vehicle includes: the method comprises the following steps of no-load transportation state, waiting loading state, entering loading area state, loading execution state, loading leaving state, heavy-load transportation state, waiting unloading state, entering unloading area state, unloading execution state and unloading leaving state, wherein the 10 states form a complete closed-loop service and are recorded as a production work period.

The identification of each production business segment is described in detail below:

(1) and (3) no-load transportation state: and under the condition that the mine transport vehicle starts from the starting point position in an idle load manner according to the positioning information of the mine transport vehicle, the speed information of the mine transport vehicle and the idle load information, determining that the production business link where the mine transport vehicle is located is in an idle load transport state.

In this embodiment, the mining haulage vehicle comes on-line from a starting location (e.g., the starting location includes a parking lot or a parking area or a departure point on a map), and the server sends scheduling information to the mining haulage vehicle to control the mining haulage vehicle to perform production work. Then, the server records the state of the mining transportation vehicle before the vehicle is handed over, the mining transportation vehicle which starts from the parking lot is usually an empty vehicle, the dispatching target of the mining transportation vehicle is from the current position to the target loading point, and the mining transportation vehicle can simultaneously receive the driving reference path to the target loading point. In addition, if the vehicle is re-taken, the scheduling can be realized through the function of temporary assignment of the server re-taken.

Therefore, when the mining transportation vehicle is determined to start from the starting point position based on the positioning information, the speed information and the no-load information, the production business is determined to be in the no-load transportation state, and the no-load transportation state of the mining transportation vehicle can be accurately and automatically identified through the mode.

(2) Waiting for a loading state: and under the condition that the mining transport vehicle is determined to enter the loading waiting area according to the positioning information of the mining transport vehicle and the mining transport vehicle is determined to stop according to the gear information and the speed information of the mining transport vehicle, determining that the production business link where the mining transport vehicle is located is in a waiting loading state.

In this embodiment, the target loading point is an end point of a first travel reference path, a loading waiting area is set in a preset range (for example, a range of 50 meters) in front of the target loading point in the first travel reference path, whether the mining transportation vehicle travels into the loading waiting area can be determined through the positioning information, and whether the mining transportation vehicle stops can be determined according to the vehicle gear information and the speed information.

When the mining transport vehicle meets the conditions of entering a loading waiting area and stopping, the mining transport vehicle is determined to be switched from a no-load transport state to a waiting loading state, and the waiting loading state of the mining transport vehicle can be accurately and automatically identified through the method.

(3) Entering a loading area state: the method comprises the steps of determining that a running track of the mining transport vehicle presents a preset shape according to positioning information of the mining transport vehicle, determining that the mining transport vehicle has switching operations of forward movement, parking, backward movement and parking according to gear information of the mining transport vehicle, and determining that a production business link where the mining transport vehicle is located is in a loading area state under the condition that the mining transport vehicle reaches the loading area according to the positioning information of the mining transport vehicle.

In this embodiment, when the server or the cooperative work vehicle sends an entry permission instruction to the mining transportation vehicle, the vehicle starts entering the loading area. When the mining transportation vehicle enters a loading area, the mining transportation vehicle can turn around and back up, the driving track of the action presents a preset shape, such as a herringbone shape, and meanwhile, the gear of the mining transportation vehicle can be switched from a forward position to a parking position and from a backward position to a parking position.

Therefore, the operation is carried out when the mining transport vehicle is identified, the mining transport vehicle is determined to arrive at the loading area according to the positioning information of the mining transport vehicle, and the production business link is determined to be in the state of entering the loading area.

(4) Loading execution state: determining that the mining transport vehicle is located at a target loading point according to the positioning information of the mining transport vehicle, and determining that the mining transport vehicle stops according to the gear information and the speed information of the mining transport vehicle; meanwhile, determining that the cooperative work vehicle is located at a target loading point according to the positioning information of the cooperative work vehicle, and determining that the cooperative work vehicle stops according to the gear information and the speed information of the cooperative work vehicle; and determining that the production business link where the mining transport vehicle is located is a loading execution state under the condition that the distance between the mining transport vehicle and the cooperative operation vehicle is smaller than the preset distance. For example, the preset distance is 10 meters, and it should be noted that the preset distance is related to the model of the cooperative work vehicle (excavator or electric shovel), and the working turning radius is different due to different models and different lengths of the shovel arms. The preset distance is not further limited in this application.

In this embodiment, when the mining transport vehicle is driven to the target loading point according to the first travel reference path and completely stops, and the cooperative work vehicle is driven to the target loading point according to the third travel reference path and completely stops, while the distance between the mining transport vehicle and the cooperative work vehicle is less than the preset distance, it is considered that the mining transport vehicle is switched to the loading execution state, and by this means, the loading execution state of the mining transport vehicle can be automatically recognized with precision.

(5) Loading and leaving state: and under the condition that the loading execution state of the mining transport vehicle is determined, and the mining transport vehicle is determined to be in a full-load driving-away loading area according to the positioning information and the full-load information of the mining transport vehicle, determining that the production business link where the mining transport vehicle is located is a loading departure state.

In this embodiment, after the mining transportation vehicle finishes loading, the mining transportation vehicle sends a loading completion instruction to the server or the cooperative work vehicle, and the server or the cooperative work vehicle sends a second travel reference path which travels from the target loading point to the target unloading point to the mining transportation vehicle. It should be noted that the second driving reference path may be sent to the mining transportation vehicle by the server at the same time as the first driving reference path and the second driving reference path, or may be sent to the mining transportation vehicle by the server or the cooperative work vehicle after the loading task of the mining transportation vehicle is completed. The timing for obtaining the second reference path of travel of the mining transportation vehicle is not further limited by the application. The mine transport vehicle is switched to a loading out-of-the-field state after the loading is finished. Specifically, when the mining transportation vehicle is identified to be driven away from the loading area and the vehicle is fully loaded, the production business link is determined to be a loading out-of-site state.

It should be noted that the full-load information of the mining transportation vehicle can be identified through information fed back by the vehicle weighing system.

Through the mode, the loading state of the mining transport vehicle can be accurately identified.

(6) Heavy-load transportation state: and under the condition that the mining transport vehicle is driven from the loading area to the unloading area in a full-load mode according to the positioning information and the full-load information of the mining transport vehicle, determining that the production business link where the mining transport vehicle is located is in a heavy-load transport state.

In this embodiment, after the mining transportation vehicle finishes loading, the mining transportation vehicle leaves the loading area according to the second travel reference path, travels to the departure point marked in the second travel reference path, and determines that the mining transportation vehicle becomes the heavy-load transportation state when the mining transportation vehicle is fully loaded.

Through the mode, the heavy-load transportation state of the vehicle can be accurately identified.

(7) Waiting for an unloaded state: and under the condition that the mining transport vehicle is determined to enter the unloading waiting area according to the positioning information of the mining transport vehicle and the mining transport vehicle is determined to stop according to the gear information and the speed information of the mining transport vehicle, determining that the production business link where the mining transport vehicle is located is in the unloading waiting state.

In this embodiment, when the mining transportation vehicle travels to the unloading area in accordance with the second travel reference route row (the travel reference route from the target loading point to the target unloading point) and stops, it is determined that the mining transportation vehicle is switched to the waiting unloading state.

By the aid of the method, the waiting unloading state of the mining transport vehicle can be accurately identified.

(8) Entering an unloading area state: the method comprises the steps of determining that a running track of the mining transport vehicle presents a preset shape according to positioning information of the mining transport vehicle, determining that the mining transport vehicle has switching operations of forward movement, parking, backward movement and parking according to gear information of the mining transport vehicle, and determining that a production business link where the mining transport vehicle is located is in an unloading area entering state under the condition that the mining transport vehicle reaches the unloading area according to the positioning information of the mining transport vehicle.

In this embodiment, when entering the unloading area of the cooperative work vehicle, the mining transportation vehicle also has a running track with a preset shape (such as a herringbone shape), and the mining transportation vehicle shifts from a forward position to a parking position and then shifts from the parking position to the reverse position to the parking position.

Therefore, when the mining transport vehicle is identified to be in a full-load state and the operation is performed, and the mining transport vehicle is determined to reach the unloading area according to the positioning information of the mining transport vehicle, the production business link is determined to be in the state of entering the unloading area, and the state of entering the unloading area of the mining transport vehicle can be accurately and automatically identified through the mode.

(9) Unloading execution state: and under the condition that the mining transport vehicle is determined to be positioned at the target unloading point according to the positioning information of the mining transport vehicle and the lifting information of the mining transport vehicle is obtained, determining that the production business link where the mining transport vehicle is positioned is in an unloading execution state.

In this embodiment, the unloading execution state of the mining transportation vehicle can be judged by the lifting information reported by the mining transportation vehicle. The front state of the mining transport vehicle is a state of entering an unloading area, lifting information is uploaded at the same time, the mining transport vehicle is considered to start unloading, the mining transport vehicle finishes bucket falling information uploading, and the mining transport vehicle is considered to finish unloading.

By the aid of the method, the unloading execution state of the mining transport vehicle can be accurately identified.

(10) Unloading the outgoing state: and under the condition that the unloading execution state of the mining transport vehicle is determined, and the mining transport vehicle is determined to be in the unloading leaving state in the no-load driving away from the unloading area according to the positioning information and the no-load information of the mining transport vehicle, determining that the production business link where the mining transport vehicle is located is the unloading leaving state.

In this embodiment, after the mining transportation vehicle completes unloading, the mining transportation vehicle leaves the unloading area, and the mining transportation vehicle becomes an unloading departure state according to a departure point marked in the fourth travel reference route from the target unloading point to the target loading point.

By the aid of the mode, the unloading leaving state of the mining transport vehicle can be accurately identified.

In addition, when the departure point of the mine transport vehicle from the unloading area is identified and the vehicle is in an idle state, the production business link is determined to be in an idle state, namely, the state of the mine truck transport vehicle is switched from the unloading departure state to the idle state.

In the embodiment of the application, 10 production business links of the mining transport vehicle are accurately identified, the 10 production businesses form a complete production work period, the yield of one vehicle can be recorded, and the yield of the single vehicle can be automatically and accurately measured. After a plurality of production work periods are finished, the yield of the mining transportation vehicle can be determined according to the number of the production work periods, so that the automation degree of yield metering is improved.

Further, as a specific implementation of the method for determining the yield of the strip mine, the embodiment of the application provides a device for determining the yield of the strip mine. As shown in fig. 3, the open pit production determining apparatus 300 includes: a sending module 301, an obtaining module 302, a recognition module 303 and a determination module 304.

The sending module 301 sends first scheduling information to the mining transportation vehicle to control the mining transportation vehicle to perform production work; the obtaining module 302 obtains positioning information and vehicle information of the mining transportation vehicle in the production process of the mining transportation vehicle; the identification module 303 identifies a production business link where the mining transportation vehicle is located according to the positioning information and the whole vehicle information of the mining transportation vehicle; the determining module 304 determines that the mining transportation vehicle completes one production work cycle when the mining transportation vehicle completes the last production service link in the preset production work cycle, and determines the output of the mining transportation vehicle according to the number of the production work cycles.

In this embodiment, the server sends scheduling information to the mining transportation vehicle through a mine GIS map in combination with a scheduling algorithm, and simultaneously provides a range of a target point area for determining whether the mining transportation vehicle reaches the target point (e.g., a loading area, an unloading area, a crushing station, etc.), the first scheduling information includes a scheduling target, a travel reference path, etc., and the scheduling target includes a target loading point and a target unloading point (e.g., the target unloading point includes an earth discharge site unloading point, a crushing station, etc.), so that the mining transportation vehicle performs production work in the open pit according to the scheduling information. During the production work of the mining transportation vehicle, a positioning device (for example, the positioning device comprises a Global Navigation Satellite System (GNSS)) is adopted to collect self positioning information, so that the monitoring of the self position is realized, the positioning information is uploaded to a server, meanwhile, the whole vehicle information is collected, and the whole vehicle information is uploaded to the server through a communication unit interface of a vehicle-mounted TBOX.

In this embodiment of the application, further, the sending module 301 is further configured to send second scheduling information to the cooperative work vehicle to control the cooperative work vehicle to perform production work, where the second scheduling information corresponds to the first scheduling information; the apparatus 300 for determining the production of a strip mine further comprises: the obtaining module 302 is further configured to obtain positioning information and vehicle information of the cooperative work vehicle; the determining module 304 is further configured to identify a production business link where the mining transportation vehicle is located according to the positioning information and the entire vehicle information of the mining transportation vehicle, and the positioning information and the entire vehicle information of the cooperative operation vehicle.

In the embodiment of the present application, further, the apparatus 300 for determining the production of a strip mine further includes: the recording module is used for recording the duration of each production business link of the mining transport vehicle; and the adjusting module is used for adjusting the scheduling information according to the duration of each production service link.

In the embodiment of the present application, further, the identification module 303 is specifically configured to perform data cleaning processing on the positioning information of the mining transportation vehicle, and filter out invalid data and drift data; and identifying the production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle after data cleaning processing.

In the embodiment of the application, further, the vehicle information includes at least one of the following items: gear information, speed information, lifting information, start and stop information, no-load information and full-load information.

In this embodiment of the application, further, the identifying module 303 is specifically configured to: under the condition that the mine transportation vehicle starts from the starting point position in an idle load mode according to the positioning information of the mine transportation vehicle, the speed information of the mine transportation vehicle and the idle load information, determining that a production business link where the mine transportation vehicle is located is in an idle load transportation state; determining that the mining transport vehicle enters a loading waiting area according to the positioning information of the mining transport vehicle, and determining that the mining transport vehicle stops according to the gear information and the speed information of the mining transport vehicle, wherein the production business link where the mining transport vehicle is located is in a waiting loading state; determining that the running track of the mining transport vehicle presents a preset shape according to the positioning information of the mining transport vehicle, determining that the mining transport vehicle has switching operations of forward movement, parking, backward movement and parking according to the gear information of the mining transport vehicle, and determining that the mining transport vehicle is in a production business link of entering a loading area state under the condition that the mining transport vehicle reaches the loading area according to the positioning information of the mining transport vehicle; determining that the mining transport vehicle is located at a target loading point according to the positioning information of the mining transport vehicle, and determining that the mining transport vehicle stops according to the gear information and the speed information of the mining transport vehicle; meanwhile, determining that the server cooperates with the working vehicle to be positioned at a target loading point according to the positioning information of the server cooperating with the working vehicle, and determining that the server cooperates with the working vehicle to stop according to the server gear information and the server speed information of the server cooperating with the working vehicle; under the condition that the distance between the mining transport vehicle of the server and the server cooperative operation vehicle is smaller than the preset distance, determining that a production business link where the mining transport vehicle is located is in a loading execution state; under the condition that the loading execution state of the mining transport vehicle is determined, and the mining transport vehicle is determined to be in a full-load driving-away loading area according to the positioning information and the full-load information of the mining transport vehicle, determining that a production business link where the mining transport vehicle is located is a loading departure state; and under the condition that the mining transport vehicle is driven from the loading area to the unloading area in a full-load mode according to the positioning information and the full-load information of the mining transport vehicle, determining that the production business link where the mining transport vehicle is located is in a heavy-load transport state.

In this embodiment of the application, further, the identifying module 303 is specifically configured to: determining that the production business link where the mining transport vehicle is located is in a waiting unloading state under the condition that the mining transport vehicle is determined to enter an unloading waiting area according to the positioning information of the mining transport vehicle and the mining transport vehicle is determined to stop according to the gear information and the speed information of the mining transport vehicle; determining that the running track of the mining transport vehicle presents a preset shape according to the positioning information of the mining transport vehicle, determining that the mining transport vehicle has switching operations of forward movement, parking, backward movement and parking again according to the gear information of the mining transport vehicle, and determining that the mining transport vehicle is in a production business link of entering an unloading area state under the condition that the mining transport vehicle reaches the unloading area according to the positioning information of the mining transport vehicle; determining that the mining transport vehicle is located at a target unloading point according to the positioning information of the mining transport vehicle, and determining that a production business link where the mining transport vehicle is located is in an unloading execution state under the condition that the lifting information of the mining transport vehicle is obtained; and under the condition that the unloading execution state of the mining transport vehicle is determined, and the mining transport vehicle is determined to be in the unloading leaving state in the no-load driving away from the unloading area according to the positioning information and the no-load information of the mining transport vehicle, determining that the production business link where the mining transport vehicle is located is the unloading leaving state.

The strip mine production determining apparatus 300 in the embodiment of the present application may be a computer device, or may be a component in a computer device, such as an integrated circuit or a chip. The computer device may be a terminal, or may be a device other than a terminal. The computer Device may be, for example, a Mobile phone, a tablet computer, a notebook computer, a palm top computer, a vehicle-mounted electronic Device, a Mobile Internet Device (MID), a robot, an ultra-Mobile personal computer (UMPC), a netbook, a Personal Digital Assistant (PDA), or the like, and may also be a server, a Network Attached Storage (NAS), a Personal Computer (PC), or the like, and the embodiments of the present application are not limited in particular.

The surface mine production determination device 300 in the embodiment of the present application may be a device having an operating system. The operating system may be an Android (Android) operating system, an ios operating system, or other possible operating systems, and embodiments of the present application are not limited specifically.

The device 300 for determining the yield of the open pit mine provided by the embodiment of the present application can implement each process implemented by the embodiment of the method for determining the yield of the open pit mine shown in fig. 1, and is not described herein again to avoid repetition.

As shown in fig. 4, the chip 400 includes at least one processor 401 and a communication interface 402, the communication interface 402 is coupled to the at least one processor 401, and the at least one processor 401 is configured to run a computer program or instructions to implement the steps of the method for determining a strip mine yield.

It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as a system-on-chip, or a system-on-chip.

Preferably, the chip 400 further comprises a memory 403, the memory 403 storing the following elements: an executable module or a data structure, or a subset thereof, or an expanded set thereof.

In the present embodiment, memory 403 may include both read-only memory and random access memory, and provides instructions and data to processor 401. A portion of the memory 403 may also include non-volatile random access memory (NVRAM).

In the embodiment of the present application, the processor 401, the communication interface 402 and the memory 403 are coupled together by a bus system 404. The bus system 404 may include a power bus, a control bus, a status signal bus, and the like, in addition to a data bus. For ease of description, the various buses are identified in FIG. 4 as bus system 404.

The method described in the embodiments of the present application may be applied to the processor 401, or implemented by the processor 401. The processor 401 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 401. The processor 401 may be a general-purpose processor (e.g., a microprocessor or a conventional processor), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an FPGA (field-programmable gate array) or other programmable logic device, discrete gate, transistor logic device or discrete hardware component, and the processor 401 may implement or execute the methods, steps and logic blocks disclosed in the embodiments of the present invention.

The embodiment of the present application also provides a terminal, as shown in fig. 5, the terminal 500 includes the strip mine production determining apparatus 300, and the terminal may be a server.

The terminal 500 may perform the method described in the above embodiment through the open pit mine production amount determining apparatus 300. It is understood that the implementation manner of the terminal 500 controlling the strip mine production determining apparatus 300 may be set according to an actual application scenario, and the embodiment of the present application is not particularly limited.

The terminal 500 includes but is not limited to: the vehicle can implement the method provided by the application through the vehicle-mounted terminal, the vehicle-mounted controller, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, the vehicle-mounted radar or the camera.

The terminal in the embodiment of the application is used as a control or adjustment system for executing the non-electric variables, and controls or adjusts the non-electric variables such as the positioning information, the whole vehicle information, the production business link, the yield and the like of the mining transport vehicle, so that the production business link of the mining transport vehicle is accurately identified, and the transportation volume of the mining transport vehicle is automatically and accurately measured.

The embodiment of the present application further provides a server, as shown in fig. 6, including a processor 601 and a memory 602, where the memory 602 stores a computer program that can be executed on the processor 601, and when the computer program is executed by the processor 601, the steps of the above-mentioned method for determining a yield of an open pit mine can be implemented, and the same technical effect can be achieved, and details are not repeated here to avoid repetition.

It should be noted that the server in the embodiment of the present application includes the mobile computer device and the non-mobile computer device described above.

The memory 602 may be used to store software programs as well as various data. The memory 602 may mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area may store an operating system, application programs or instructions required for at least one function (such as a sound playing function, an image playing function, and the like), and the like. Further, the memory 602 may include volatile memory or nonvolatile memory, or the memory 602 may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. The volatile Memory may be a Random Access Memory (RAM), a Static Random Access Memory (Static RAM, SRAM), a Dynamic Random Access Memory (Dynamic RAM, DRAM), a Synchronous Dynamic Random Access Memory (Synchronous DRAM, SDRAM), a Double Data Rate Synchronous Dynamic Random Access Memory (Double Data Rate SDRAM, ddr SDRAM), an Enhanced Synchronous SDRAM (ESDRAM), a Synchronous Link DRAM (SLDRAM), and a Direct Memory bus RAM (DRRAM). The memory 602 in the embodiments of the subject application includes, but is not limited to, these and any other suitable types of memory.

Processor 601 may include one or more processing units; optionally, the processor 601 integrates an application processor, which mainly handles operations related to the operating system, user interface, application programs, etc., and a modem processor, which mainly handles wireless communication signals, such as a baseband processor. It will be appreciated that the modem processor described above may not be integrated into the processor 601.

The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement each process of the above-mentioned opencut mine yield determination method, and can achieve the same technical effect, and in order to avoid repetition, the details are not repeated here.

The embodiment of the application also provides a system for determining the yield of the strip mine, which comprises a plurality of mining transport vehicles provided with the positioning devices and the server, wherein the server is in data communication with the mining transport vehicles; the server is used for sending first scheduling information to the mining transport vehicle so as to control the mining transport vehicle to carry out production work; the mining transport vehicle is used for acquiring positioning information and vehicle information of the mining transport vehicle during production work of the mining transport vehicle, and uploading the positioning information and the vehicle information to the server; the server is also used for identifying the production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle, determining that the mining transport vehicle completes one production work cycle when the mining transport vehicle completes the last production business link in the preset production work cycle, and determining the output of the mining transport vehicle according to the number of the production work cycles.

In the embodiment, the server sends first scheduling information to the mining transportation vehicle through a mine GIS map in combination with a scheduling algorithm, and simultaneously provides a range of a target point area for determining whether the mining transportation vehicle reaches a target point (such as a loading area, an unloading area, a crushing station and the like), wherein the first scheduling information comprises target loading point information, target unloading point information, a first driving reference path from a starting position of the mining transportation vehicle to the target loading point, and a second driving reference path from the target loading point to the target unloading point. The server sends first scheduling information to the mining transport vehicle, controls the mining transport vehicle to drive from the starting position to the target loading point according to the first driving reference path to complete the loading task, and controls the mining transport vehicle to drive from the target loading point to the target unloading point according to the second driving reference path to complete the unloading task after the mining transport vehicle completes the loading task.

In the production process of the mining transport vehicle, a high-precision global positioning system positioning device is adopted to realize the monitoring of the position of the mining transport vehicle, upload the positioning information of the mining transport vehicle to a server, acquire the whole vehicle information of the mining transport vehicle and upload the whole vehicle information of the mining transport vehicle to the server through a communication unit interface of a vehicle-mounted TBOX.

After receiving the positioning information and the whole vehicle information uploaded by the vehicle, the server performs comprehensive analysis by combining mine road network, region and scheduling information based on the positioning information and the whole vehicle information, automatically identifies a production business link of the mining transportation vehicle, and determines that the mining transportation vehicle completes one production work cycle when the mining transportation vehicle completes the last production business link in a preset production work cycle, thereby determining the yield of the mining transportation vehicle according to the number of the production work cycles.

In the embodiment of the application, further, the system also comprises a plurality of vehicles cooperating with the same, wherein the vehicles cooperating with the same are provided with the positioning devices; the server is also used for sending second scheduling information to the cooperative work vehicle so as to control the cooperative work vehicle to carry out production work; the second scheduling information corresponds to the first scheduling information; the cooperative operation vehicle is used for acquiring self positioning information and vehicle information and uploading the self positioning information and the vehicle information to the server; the server is also used for identifying the production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle and the positioning information and the whole vehicle information of the cooperative operation vehicle.

In the embodiment, after sending first scheduling information to a mining transport vehicle, a server queries a map of a loading area of a mining area, determines a cooperative work vehicle (such as an excavator, an electric shovel and the like) closest to a target loading point in the first scheduling information, and sends second scheduling information to the cooperative work vehicle, wherein the second scheduling information comprises the same target loading point as the first scheduling information and a third travel reference path from the current position of the cooperative work vehicle to the target loading point, and the second scheduling information corresponds to the first scheduling information and is mainly represented by the fact that the target loading point in the first scheduling information is the same as the target loading point in the second scheduling information; in the process that the cooperative work vehicle drives to the target loading point from the current position according to the third running reference path, the server performs data interaction with a positioning device arranged on the cooperative work vehicle to acquire positioning information and finished vehicle information of the cooperative work vehicle in real time, wherein the finished vehicle information comprises at least one of the following items: gear information, speed information, and start-stop information.

The server determines distance information between the mining transport vehicle and the cooperative operation vehicle according to the positioning information of the cooperative operation vehicle and the positioning information of the mining transport vehicle, and further identifies a production business link where the mining transport vehicle is located according to the positioning information and the whole vehicle information of the mining transport vehicle, the positioning information and the whole vehicle information of the cooperative operation vehicle and the distance information between the mining transport vehicle and the cooperative operation vehicle.

By the aid of the mode, the production business link is identified by combining the positioning information and the whole vehicle information of the mining transport vehicle, the positioning information and the whole vehicle information of the cooperative operation vehicle and the distance information between the mining transport vehicle and the cooperative operation vehicle, so that the positioning information can be prevented from drifting, and the identification accuracy of the production business link is improved.

In the embodiment of the application, the server is further configured to store a mine area geographic information system map, and generate the scheduling information according to the mine area geographic information system map and the scheduling algorithm.

In the embodiment of the application, further, the mining transportation vehicle is provided with a vehicle weighing system, and the vehicle weighing system is used for acquiring the load information of the mining transportation vehicle and uploading the load information of the mining transportation vehicle to the server.

In the embodiment, the mining transport vehicle is provided with the vehicle weighing system, the load information of the mining transport vehicle can be acquired through the vehicle weighing system, and the load information is uploaded to the server, so that the server can accurately identify a production business link by combining the load information.

Embodiments of the present application further provide a computer program product, which is stored in a storage medium and executed by at least one processor to implement the processes of the above-mentioned method for determining a strip mine yield, and achieve the same technical effects, and therefore, the descriptions of the processes are omitted here for avoiding redundancy.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A method for determining the production of a strip mine, comprising:

sending first scheduling information to the mining transportation vehicle to control the mining transportation vehicle to carry out production work;

acquiring positioning information and vehicle information of the mining transport vehicle in the production process of the mining transport vehicle;

identifying a production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle;

when the mining transport vehicle completes the last production service link in the preset production work period, determining that the mining transport vehicle completes one production work period;

and determining the yield of the mining transportation vehicle according to the number of the production working cycles.

2. The method of claim 1, further comprising:

sending second scheduling information to the cooperative work vehicle to control the cooperative work vehicle to carry out production work; the second scheduling information corresponds to the first scheduling information;

acquiring positioning information and whole vehicle information of the cooperative work vehicle;

and identifying the production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle and the positioning information and the whole vehicle information of the cooperative operation vehicle.

3. The method of claim 1 or 2, after said determining that said mining haulage vehicle completed a production work cycle, further comprising:

recording the duration of each production business link of the mining transportation vehicle;

and adjusting the scheduling information according to the duration of each production business link.

4. The method according to claim 1 or 2, wherein the identifying the production business link where the mining transportation vehicle is located according to the positioning information and the whole vehicle information of the mining transportation vehicle comprises:

carrying out data cleaning processing on the positioning information of the mining transportation vehicle, and filtering invalid data and drifting data;

and identifying the production business link of the mining transport vehicle according to the positioning information of the mining transport vehicle and the whole vehicle information after data cleaning.

5. The method of claim 2,

the vehicle information comprises at least one of the following items: gear information, speed information, lifting information, start and stop information, no-load information and full-load information.

6. The method of claim 5, wherein the identifying the production business link in which the mining transportation vehicle is located according to the positioning information and the whole vehicle information of the mining transportation vehicle and the positioning information and the whole vehicle information of the cooperative work vehicle comprises:

under the condition that the mining transportation vehicle starts from a starting point position in an idle load mode according to the positioning information of the mining transportation vehicle, the speed information of the mining transportation vehicle and the idle load information, determining that a production business link where the mining transportation vehicle is located is in an idle load transportation state;

determining that a production business link where the mining transport vehicle is located is in a loading waiting state under the condition that the mining transport vehicle is determined to enter a loading waiting area according to the positioning information of the mining transport vehicle and the mining transport vehicle is determined to stop according to the gear information and the speed information of the mining transport vehicle;

determining that a running track of the mining transport vehicle presents a preset shape according to the positioning information of the mining transport vehicle, determining that the mining transport vehicle has switching operations of forward movement, parking, backward movement and parking again according to the gear information of the mining transport vehicle, and determining that a production business link where the mining transport vehicle is located is in a loading area state under the condition that the mining transport vehicle reaches a loading area according to the positioning information of the mining transport vehicle;

determining that the mining transportation vehicle is located at a target loading point according to the positioning information of the mining transportation vehicle, and determining that the mining transportation vehicle stops according to the gear information and the speed information of the mining transportation vehicle; meanwhile, determining that the cooperative work vehicle is located at a target loading point according to the positioning information of the cooperative work vehicle, and determining that the cooperative work vehicle stops according to the gear information and the speed information of the cooperative work vehicle; determining that the production business link of the mining transport vehicle is in a loading execution state under the condition that the distance between the mining transport vehicle and the cooperative operation vehicle is smaller than the preset distance;

determining that a production business link where the mining transport vehicle is located is a loading departure state under the condition that the mining transport vehicle is determined to finish the loading execution state and the mining transport vehicle is determined to be driven away from the loading area in a full load mode according to the positioning information and the full load information of the mining transport vehicle;

and under the condition that the mining transport vehicle is determined to drive from the loading area to the unloading area in a full-load way according to the positioning information and the full-load information of the mining transport vehicle, determining that the production business link where the mining transport vehicle is located is in a heavy-load transport state.

7. The method of claim 6, wherein the identifying the production business link in which the mining transportation vehicle is located according to the positioning information and the entire vehicle information of the mining transportation vehicle and the positioning information and the entire vehicle information of the cooperative work vehicle further comprises:

determining that a production business link where the mining transport vehicle is located is in a waiting unloading state under the condition that the mining transport vehicle is determined to enter an unloading waiting area according to the positioning information of the mining transport vehicle and the mining transport vehicle is determined to stop according to the gear information and the speed information of the mining transport vehicle;

determining that the running track of the mining transport vehicle presents the preset shape according to the positioning information of the mining transport vehicle, determining that the mining transport vehicle has switching operation of forward movement, parking, backward movement and parking according to the gear information of the mining transport vehicle, and determining that the mining transport vehicle reaches an unloading area according to the positioning information of the mining transport vehicle, wherein a production business link where the mining transport vehicle is located is in an unloading area entering state;

determining that the mining transport vehicle is located at a target unloading point according to the positioning information of the mining transport vehicle, and determining that a production business link where the mining transport vehicle is located is an unloading execution state under the condition that the mining transport vehicle is located at a target unloading point and the lifting information of the mining transport vehicle is obtained;

and under the condition that the mining transport vehicle finishes the unloading execution state and the mining transport vehicle is determined to be driven away from the unloading area in a no-load mode according to the positioning information and the no-load information of the mining transport vehicle, determining that the production business link where the mining transport vehicle is located is an unloading departure state.

8. An open pit mine production determination apparatus, comprising:

the sending module is used for sending first scheduling information to the mining transport vehicle so as to control the mining transport vehicle to carry out production work;

the acquisition module is used for acquiring positioning information and vehicle information of the mining transport vehicle in the production process of the mining transport vehicle;

the identification module is used for identifying a production business link where the mining transport vehicle is located according to the positioning information and the whole vehicle information of the mining transport vehicle;

the determining module is used for determining that the mining transport vehicle completes one production work cycle when the mining transport vehicle completes the last production service link in the preset production work cycle, and determining the yield of the mining transport vehicle according to the number of the production work cycles.

9. A chip comprising at least one processor and a communication interface, the communication interface being coupled to the at least one processor, the at least one processor being configured to execute a program or instructions to implement the method of determining the production of a surface mine of any of claims 1 to 7.

10. A terminal, characterized in that the terminal comprises the strip mine production determination apparatus of claim 8.

11. A server comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the computer program when executed by the processor performs the steps of the method of determining the production of a strip mine of any of claims 1 to 7.

12. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the method for determining the production of a surface mine of any of claims 1 to 7.

13. A strip mine production determination system comprising a plurality of mining haulage vehicles provided with positioning devices and a server according to claim 11, the server in data communication with the mining haulage vehicles;

the server is used for sending first scheduling information to the mining transportation vehicle so as to control the mining transportation vehicle to carry out production work;

the mining transport vehicle is used for acquiring positioning information and vehicle information of the mining transport vehicle during production work of the mining transport vehicle, and uploading the positioning information and the vehicle information to the server;

the server is further used for identifying a production business link where the mining transport vehicle is located according to the positioning information and the whole vehicle information of the mining transport vehicle, determining that the mining transport vehicle completes one production work cycle when the mining transport vehicle completes the last production business link in a preset production work cycle, and determining the yield of the mining transport vehicle according to the number of the production work cycles.

14. The system of claim 13, further comprising a plurality of cooperating work vehicles provided with a positioning device;

the server is also used for sending second scheduling information to the cooperative work vehicle so as to control the cooperative work vehicle to carry out production work; the second scheduling information corresponds to the first scheduling information;

the cooperative operation vehicle is used for acquiring self positioning information and vehicle information and uploading the self positioning information and the vehicle information to the server;

and the server is also used for identifying the production business link of the mining transport vehicle according to the positioning information and the whole vehicle information of the mining transport vehicle and the positioning information and the whole vehicle information of the cooperative operation vehicle.

15. The system of claim 13 or 14,

the server is also used for storing a mine area geographic information system map and generating the scheduling information according to the mine area geographic information system map and a scheduling algorithm.

16. The system of claim 13 or 14,

the mining transport vehicle is provided with a vehicle weighing system, and the vehicle weighing system is used for acquiring the load information of the mining transport vehicle and uploading the load information of the mining transport vehicle to the server.