CN115775117A - Information processing method and device for mining area operation, electronic equipment and storage medium - Google Patents
Information processing method and device for mining area operation, electronic equipment and storage medium Download PDFInfo
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- CN115775117A CN115775117A CN202310091456.2A CN202310091456A CN115775117A CN 115775117 A CN115775117 A CN 115775117A CN 202310091456 A CN202310091456 A CN 202310091456A CN 115775117 A CN115775117 A CN 115775117A
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Abstract
The present disclosure relates to an information processing method, apparatus, electronic device and storage medium for mining operation, the method comprising: acquiring position information of at least one excavator in a mining area; acquiring spatial position information of a loading area corresponding to the excavator; dividing the loading area into at least one group of subspaces based on the spatial position information and the position information of the excavator, wherein the subspaces comprise loading positions and positions to be loaded. Like this through the spatial position information who obtains the positional information who digs the machine and correspond the loading district, can be very convenient with dividing into at least a set of subspace of loading district, and then determine the loading position in the loading district and wait to load the position, the parking of unmanned mining vehicle in the loading district of being convenient for can avoid digging the driver and all need set up suitable loading district for unmanned haulage vehicle before loading at every turn, has improved the operating efficiency in mining district to a great extent.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to an information processing method and apparatus for mine work, an electronic device, and a storage medium.
Background
During mine operations, excavators continue to load mineral into unmanned transport vehicles parked at the loading bay. After the unmanned transport vehicle is loaded, the unmanned transport vehicle can drive out of the loading area, and other empty unmanned transport vehicles can drive into the loading area so as to be loaded.
And along with the continuous excavation of the excavator, the position of the excavator can be continuously changed, so that the position of a loading area where the unmanned transport vehicle stops is also continuously changed. This requires the excavator driver to set up a suitable loading area for the unmanned transport vehicle each time before loading in order for the excavator to load, which greatly reduces the efficiency of the mine.
Disclosure of Invention
The disclosure provides an information processing method and device for mining area operation, an electronic device and a storage medium.
According to a first aspect of the present disclosure, there is provided an information processing method for mine work, the method comprising:
acquiring position information of at least one excavator in a mining area;
acquiring spatial position information of a loading area corresponding to the excavator;
dividing the loading area into at least one group of subspaces based on the spatial position information and the position information of the excavator, wherein the subspaces comprise loading positions and positions to be loaded.
Optionally, the spatial position information includes position information of a digging section of the excavator and direction information of the loading area.
Optionally, the method further comprises:
detecting whether the position information of the excavation section of the excavator changes or not;
acquiring current position information of the excavation section of the excavator under the condition that the position information of the excavation section of the excavator is detected to be changed;
updating the position information of the loading position and the position information of the to-be-loaded position in the subspace based on the current position information of the digging machine digging section and the position information of the digging machine, or based on the current position information of the digging machine digging section, the position information of the digging machine and the direction information of the loading region.
Optionally, the method further comprises:
when the position information of the excavating machine mining section is changed from first position information to second position information, judging whether the variation distance of the excavating machine mining section is larger than a threshold value or not based on the first position information and the second position information;
and if the position is larger than the threshold value, sending position updating information to the unmanned vehicles parked in the subspace.
Optionally, the location update information includes location update information of the loading bit and location update information of the to-be-loaded bit; the sending of location update information to the unmanned vehicle parked in the subspace includes:
and sending the position updating information of the loading position to the unmanned vehicle parked at the loading position in the subspace, and sending the position updating information of the loading position to the unmanned vehicle parked at the loading position in the subspace.
Optionally, the loading area includes two groups of subspaces, and the positions to be loaded and the loading positions in each group of subspaces are diagonally distributed; unmanned vehicles are parked in a group of subspaces in the loading area.
Optionally, the method further comprises:
obtaining direction information of the loading area through a sensing device arranged on the excavator body; the sensing device comprises a laser radar, a millimeter wave radar or a camera.
Optionally, the method further comprises:
acquiring first vehicle model information of the excavator and second vehicle model information of an unmanned vehicle to be parked in the loading area;
and determining whether the position information of the loading position and the position information of the position to be loaded in the loading area need to be adjusted or not based on the first vehicle model information and the second vehicle model information.
Optionally, the method further comprises:
receiving manual operation information of the excavator driver on the loading area;
and adjusting the position information of the loading position and/or the position information of the position to be loaded in the subspace based on the manual operation information.
According to a second aspect of the present disclosure, there is provided an information processing apparatus for mine work, the apparatus comprising:
the excavator position information acquisition module is used for acquiring the position information of at least one excavator in a mining area;
the space position information acquisition module is used for acquiring space position information of a loading area corresponding to the excavator;
and the space dividing module is used for dividing the loading area into at least one group of subspaces based on the space position information and the position information of the excavator, and the subspaces comprise loading positions and positions to be loaded.
Optionally, the spatial position information includes position information of a cutting section of the excavator and direction information of the loading area.
Optionally, the apparatus further comprises:
the detection module is used for detecting whether the position information of the excavation section of the excavator changes or not;
the current position information acquisition module is used for acquiring the current position information of the excavation section of the excavator under the condition that the position information of the excavation section of the excavator is detected to be changed;
and the position information updating module is used for updating the position information of the loading position and the position information of the position to be loaded in the loading area based on the current position information of the digging section of the digging machine and the position information of the digging machine, or based on the current position information of the digging section of the digging machine, the position information of the target digging machine and the direction information of the loading area.
Optionally, the apparatus further comprises:
the variable distance judging module is used for judging whether the variable distance of the excavation section of the excavator is larger than a threshold value or not based on the first position information and the second position information under the condition that the position information of the excavation section of the excavator is changed from the first position information to the second position information;
and the position updating information sending module is used for sending the position updating information to the unmanned vehicle parked in the subspace under the condition that the position updating information is larger than the threshold value.
Optionally, the location update information includes location update information of the loading bit and location update information of the to-be-loaded bit; the location update information sending module includes:
and the position updating information sending submodule is used for sending the position updating information of the loading position to the unmanned vehicle parked at the loading position in the subspace and sending the position updating information of the loading position to the unmanned vehicle parked at the loading position in the subspace.
Optionally, the loading area includes two groups of subspaces, and the positions to be loaded and the loading positions in each group of subspaces are diagonally distributed; unmanned vehicles are parked in a group of subspaces in the loading area.
Optionally, the apparatus further comprises:
the direction information determining module is used for obtaining the direction information of the loading area through a sensing device arranged on the excavator body; the sensing device comprises a laser radar, a millimeter wave radar or a camera.
Optionally, the apparatus further comprises:
the vehicle model information acquisition module is used for acquiring first vehicle model information of the excavator and second vehicle model information of an unmanned vehicle to be parked in the loading area;
and the position information determining module is used for determining whether the position information of the loading position and the position information of the position to be loaded in the loading area need to be adjusted or not based on the first vehicle model information and the second vehicle model information.
Optionally, the apparatus further comprises:
the information receiving module is used for receiving manual operation information of the excavator driver on the loading area;
and the position information adjusting module is used for adjusting the position information of the loading position and/or the position information of the to-be-loaded position in the subspace based on the manual operation information.
According to a third aspect of the present disclosure, an electronic device is provided. The electronic device includes: a memory having a computer program stored thereon and a processor implementing the method as described above when executing the program.
According to a fourth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-mentioned method of the present disclosure.
According to the information processing method and device for the mining area operation, the electronic equipment and the storage medium, the position information of at least one excavator in the mining area is obtained, the spatial position information of a loading area corresponding to the excavator is obtained, the loading area is divided into at least one group of subspaces based on the spatial position information and the position information of the excavator, and the subspaces comprise loading positions and positions to be loaded. The loading area can be conveniently divided into at least one group of subspaces by acquiring the position information of the excavator and the space position information of the corresponding loading area, so that the loading position and the position to be loaded in the loading area are determined, the unmanned mining vehicle can conveniently stop in the loading area, a driver of the excavator can be prevented from setting a proper loading area for the unmanned transport vehicle before loading, and the operation efficiency of a mining area is improved to a great extent.
Drawings
Further details, features and advantages of the disclosure are disclosed in the following description of exemplary embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic view of a scenario provided by an exemplary embodiment of the present disclosure;
fig. 2 is a flowchart of an information processor for mine work provided by an exemplary embodiment of the present disclosure;
FIG. 3 is a schematic diagram of yet another scenario provided by an exemplary embodiment of the present disclosure;
fig. 4 is a functional block schematic diagram of an information processing apparatus for mine work according to an exemplary embodiment of the present disclosure;
fig. 5 is a block diagram of an electronic device according to an exemplary embodiment of the present disclosure;
fig. 6 is a block diagram of a computer system according to an exemplary embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be understood that the various steps recited in method embodiments of the present disclosure may be performed in a different order, and/or performed in parallel. Moreover, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
The term "include" and variations thereof as used herein are open-ended, i.e., "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the following description. It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
In the process of working of the vehicle in a mining area, the position of the excavator can be changed continuously along with the continuous excavation of the excavator, and then the position of the loading position can be changed. In the related technology, a driver of the excavator needs to manually generate a loading position to send information to an unmanned vehicle waiting in line, the unmanned vehicle drives in and stops at the loading position after receiving the information sent by the driver of the excavator, waits for loading of the excavator, and drives out of the loading position after loading is finished.
In the related technology, the requirement on a driver of the excavator is high, the excavator needs to be repeatedly operated once when being loaded with one vehicle, time and labor are wasted, and long-time queuing waiting of unmanned vehicles is easily caused. In addition, as the excavator excavates continuously, the excavation section of the excavator also changes continuously, the position of the loading area needs to be updated, and the related technology obviously cannot meet the actual requirement.
Therefore, in order to reduce the waiting time of the excavator and improve the operation efficiency, as shown in fig. 1, the embodiment of the present disclosure deploys a dual-antenna satellite navigation device on the excavator 10 to obtain the excavator position, in fig. 1, two sides of the loading area 20 are the extending direction of the loading area 20, and the lower side is the excavator mining section 30 (also called a mining step, with a height difference in front and back, the excavator 10 is on the step, and the unmanned vehicle is under the step), which can be generated by high-precision map fitting calculation, the excavator mining section 30 is updated in real time as the excavator 10 excavates, and moves backwards, and the left and right width in the loading area 20 depends on the position of the excavator 10. In addition, the combination of the excavator and the unmanned vehicle with different models corresponds to different parameter values, the position can be manually adjusted after the combination is generated, the combination is synchronously adjusted and updated along with the data update of the excavator excavation section 30, and the generated position information of the loading position and the position information of the position to be loaded are automatically, circularly and alternately issued to the unmanned vehicle. The unmanned vehicle in an embodiment may be an unmanned transport vehicle.
Wherein, a sensing device may be disposed on the excavator 10, and the sensing device may include a laser radar, a millimeter wave radar, or a camera. The direction information of the loading area 20 can be sensed by the sensing device on the excavator 10, and the direction information can be the angle between the front and back extending directions of the loading area 20 and the direction of the high-precision map.
In addition, in the embodiment provided by the disclosure, in the case of obtaining the position information of the excavation section of the excavator and the position information of the excavator, the direction information of the loading area may be obtained according to the position information of the excavation section of the excavator and the position information of the excavator. For example, if the shovel performs digging on a step of a digging face and a new digging face is formed as the shovel continues to dig, the extending direction of the loading area may be estimated from the positional information of the digging face of the shovel and the positional information of the shovel.
In the disclosed embodiment, 2 sets of waiting positions and loading positions may be automatically generated based on the extending direction in the loading area 20, the position information of the excavator mining cross section 30, and the position information of the excavator 10. Each group comprises 1 to-be-loaded position and 1 loading position, the to-be-loaded position and the loading position are distributed diagonally, as shown in fig. 1, the 1 st group comprises a to-be-loaded position 21 and a loading position 24, the 2 nd group comprises a to-be-loaded position 22 and a loading position 23, the to-be-loaded position 21 and the loading position 24 are distributed diagonally, and the to-be-loaded position 22 and the loading position 23 are distributed diagonally. In the embodiment, in the loading area 20, there is a group of loading positions and unmanned vehicles parked on the loading positions, so that the unmanned vehicles parked on the loading positions can conveniently drive away after completing the loading of the materials. When the unmanned vehicle parked on the loading position finishes loading materials or is about to finish loading, the unmanned vehicle parked on the waiting position can directly reverse to enter the corresponding loading position, and meanwhile, the empty unmanned vehicle parked in the waiting area drives into the waiting area, so that the excavator 10 can realize continuous excavation and loading without waiting, and the loading efficiency is greatly improved.
Illustratively, the waiting position 21 and the loading position 24 stop unmanned vehicles at the same time, and the unmanned vehicles at the loading position 24 can be driven away after the loading is finished, and the heavy-load unmanned vehicles after the loading is finished can be conveniently driven away from the loading position 24 because the waiting position 22 does not stop the vehicles. Meanwhile, as no vehicle stops at the loading position 23, the empty unmanned vehicle to be stopped at the loading position 21 can enter the loading position 23 through backing when the unmanned vehicle stopped at the loading position 24 is about to finish loading, and the excavator can continuously load the unmanned vehicle stopped at the loading position 23, so that continuous excavation is realized, and the operation efficiency can be improved to a great extent.
In the embodiment provided by the present disclosure, as the excavator 10 continuously excavates, the excavator mining section 30 also continuously moves backwards, and the embodiment of the present disclosure may update the position information of the loading location and the position information of the to-be-loaded location in the loading area 20 according to the updated position information of the excavator mining section 30, the current position information of the excavator 10 and the direction information of the loading area 20, since the information can be updated in real time and periodically, in the case that the unmanned vehicle parked at the loading location is not completely loaded, if the excavator 10 can also continuously complete the loading operation on the unmanned vehicle (for example, the arm length of the excavator 10 is still long enough to extend above the unmanned vehicle, etc.), the updated position information does not need to be sent to the unmanned vehicle in the loading area 20 each time.
The presently disclosed embodiment can determine, by comparison, that the position of the excavator mining cross section 30 when the position information of the unmanned vehicle was last sent to the loading area 20 is the first position information of the excavator mining cross section 30, and when the position is updated, the current position information of the excavator mining cross section 30 is the second position information, and if the distance between the excavator mining cross section 30 and the first position information when the excavator mining cross section 30 is the second position information is greater than a threshold value, it indicates that the excavator mining cross section 30 has moved backward by a relatively large position, and the excavator 10 may not be able to better perform loading work on the unmanned vehicle parked at the loading location (for example, the arm length of the excavator 10 is not long enough), and then it is possible to send position update information to the unmanned vehicle parked at the loading location, and send the latest calculated position information of the loading location to the unmanned vehicle, so that the unmanned vehicle can reach the position of the updated loading location by moving (for example, moving backward), so that the unmanned vehicle 10 can continuously perform loading work on the unmanned vehicle. Meanwhile, the updated position information of the position to be loaded can be sent to the unmanned vehicle parked at the position to be loaded, so that the unmanned vehicle parked at the position to be loaded can reach the updated position to be loaded by moving (for example, moving backwards).
It should be noted that the left-right width in the loading area 20 depends on the position of the excavator 10. Therefore, the position of loading area 20, and the positions of the loading positions in loading area 20 are not affected when excavator 10 moves back and forth. In the process of loading the unmanned vehicle parked on the loading position by the excavator 10, since the excavator 10 slightly moves left and right inevitably, after the left and right widths of the loading area 20 are calculated in conjunction with the position of the excavator, the influence on the updating of the position information of the loading position and the position information of the loading position in the loading area 20 can be ignored when moving within a certain range left and right during the loading operation of the excavator 10. In the process of loading operation of the excavator 10, if the distance of the left and right movement of the position of the excavator 10 is greater than a certain distance, the current latest position of the excavator 10 needs to be considered when calculating the position information of the loading position and the position information of the position to be loaded in the loading area 20. Similarly, when the position information of the loading site and the position information of the loading site to be loaded in the loading area 20 are updated based on the position information of the excavator mining cross section 30, the current position information of the excavator 10, and the direction information of the loading area 20, the latest direction information of the loading area 20 may be used.
Based on the foregoing embodiment, the present disclosure also provides an information processing method for mining work, which may be applied to the excavator 10 described above, and may also be applied to a cloud, and as shown in fig. 2, the method may include the following steps:
in step S210, position information of at least one shovel in a mine area is obtained.
In the embodiment, a dual-antenna satellite navigation device can be deployed on the excavator to acquire the position information of the excavator and send the position information of the excavator to a vehicle-mounted computer of the excavator, and the automatic generation algorithm of the position information of the loading position and the position information to be loaded in the implementation process can also be deployed on the vehicle-mounted computer of the excavator.
In an embodiment, the mine area may include a plurality of excavators, each of which may correspond to a loading area during operation. This may be illustrated by way of example of an object miner in the mine, which may be any of the excavators in the mine, which may be illustrated by way of example as the object miner described above with respect to the excavator 10 of fig. 1.
In step S220, spatial position information of the loading area corresponding to the excavator is acquired.
In an embodiment, the spatial location information may include location information of a mining face of the excavator and orientation information of the loading area. The position information of the digging section corresponding to the target digging machine can be generated through high-precision map fitting calculation, and the direction information of the loading area corresponding to the target digging machine can be the extending directions of the left side and the right side of the loading area 20 in fig. 1.
In step S230, the loading area is divided into at least one set of subspaces based on the spatial location information and the excavator location information. The subspace comprises a loading position and a to-be-loaded position.
In the embodiment provided by the present disclosure, as shown in fig. 1, the left and right widths of the loading area 20 may be determined by the position information of the excavator 10, the front and rear lengths of the loading area 20 may be determined according to the position information of the excavator mining section 30, and the angle of the loading area 20 may be determined according to the direction information of the loading area 20, so that after the orientation of the loading area 20 is determined, the loading area 20 may be divided into 4 sub-areas, i.e., 2 groups of sub-spaces, each group of sub-spaces including one loading site and one loading site. Wherein, when the unmanned vehicle stops at the loading position 23 or the loading position 24, the rear wheel of the unmanned vehicle can be butted against the digging section 30 of the excavator, so that the bucket of the unmanned vehicle can extend to the other side of the digging section 30 of the excavator, namely one side of the excavator 10, and the loading space can be utilized to the maximum extent. In addition, the specific positions of the loading position and the loading position can be specifically adjusted according to the model parameters of the excavator and the unmanned vehicle so as to meet the requirements of the actual operation of the excavator 10.
It should be noted that, in the embodiment, the loading area includes at least one group of subspaces, the loading area may be divided into one group of subspaces or multiple groups of subspaces according to actual needs, and the number of loading bits and the number of bits to be loaded in each group of subspaces may also be set according to needs, which is not limited to this in the embodiment of the present disclosure.
In the embodiment, each group of subspaces comprises a to-be-loaded position and a loading position, and according to needs, for example, each group of subspaces comprises one to-be-loaded position and two loading positions, which is suitable for the situation that unmanned vehicles parked on the two loading positions are loaded in sequence, and the unmanned vehicle on one loading position drives away after the unmanned vehicle is loaded, so that the unmanned vehicle parked on the to-be-loaded position can drive into the corresponding loading position to be loaded, the unmanned vehicle staying in the waiting area fills up the gap of the to-be-loaded position again, and drives into the to-be-loaded position to park. The unmanned vehicle can drive and stop according to the received loading information and the position information of the loading position and the loading position, so that the working efficiency can be improved to a great extent.
According to the information processing method for the mining area operation, the position information of at least one excavator in the mining area is obtained, the space position information of the loading area corresponding to the excavator is obtained, the loading area is divided into at least one group of subspaces based on the space position information and the position information of the excavator, and the subspaces comprise the loading positions and the positions to be loaded. The loading area can be conveniently divided into at least one group of subspaces by acquiring the position information of the excavator and the space position information of the corresponding loading area, so that the loading position and the position to be loaded in the loading area are determined, the unmanned mining vehicle can conveniently stop in the loading area, a driver of the excavator can be prevented from setting a proper loading area for the unmanned transport vehicle before loading, and the operation efficiency of a mining area is improved to a great extent.
And along with the continuous operation of the excavator, the excavating section of the excavator continuously moves, the position information of each group of subspace loading positions in the loading area and the position information of the to-be-loaded positions can be automatically calculated, the condition that the excavator needs to set a proper loading area for an unmanned transport vehicle before loading every time is avoided, and the operation efficiency of a mining area can be improved to a great extent by the aid of the method and the device.
With the continuous excavation of the excavator, the position of the excavation section of the excavator also moves, and then the position information of the loading position in the loading area and the position information of the position to be loaded need to be recalculated. Therefore, based on the above embodiments, in a further embodiment provided by the present disclosure, the method may further include the following steps:
and S230, detecting whether the position information of the excavation section of the excavator changes.
In the embodiment, the position of the mining section of the excavator can be detected in real time or periodically, and the position information of the mining section of the excavator can be obtained. For example, the position information of the excavation section of the excavator may be obtained by a sensing device provided on the target excavator, which may be a laser radar, a millimeter wave radar, a camera, or the like.
And S240, acquiring the current position information of the excavation section of the excavator under the condition that the position information of the excavation section of the excavator is detected to be changed.
And S250, updating the position information of the loading position and the position information of the to-be-loaded position in the subspace based on the current position information of the digging section of the digging machine, the position information of the target digging machine and the direction information of the loading region.
In the embodiment of the disclosure, when the change of the position information of the mining section of the excavator is detected, the position information of the loading position and the position information of the to-be-loaded position in the subspace of the loading area can be recalculated according to the current position information of the mining section of the excavator, the position information of the target excavator and the direction information of the loading area, so as to update the position information of the loading position and the position information of the to-be-loaded position.
It should be noted that, because the direction information of the loading area may be obtained according to a sensing device disposed on the body of the excavator, and may also be obtained according to the current position information of the excavation section of the excavator and the position information of the excavator described in the above embodiments, in the process of determining the position information of the loading position and the position information of the to-be-loaded position in the subspace, the position information of the loading position and the position information of the to-be-loaded position in the subspace may be determined according to the current position information of the excavation section of the excavator and the position information of the excavator, thereby implementing updating of the position information of the loading position and the position information of the to-be-loaded position in the subspace.
The updating of the position information of the loading position and the position information of the position to be loaded in the embodiment of the disclosure can be real-time or periodic continuous updating, so that in the updating process, the position updating information of each time does not need to be sent to the unmanned vehicle stopped in the loading area to move. In the disclosed embodiment, location update information is sent to an unmanned vehicle parked in a loading area upon detecting that a change in distance of a mining section of the excavator between two location update information is greater than a threshold.
Specifically, in the embodiment, when the current first position information of the excavation section of the excavator is changed into the second position information, whether the variation distance of the excavation section of the excavator is larger than the threshold value is judged based on the first position information and the second position information. And if the position is larger than the threshold value, sending position updating information to the unmanned vehicles parked in the subspace. As shown in fig. 3, when the position corresponding to the first position information of the mining cross section of the excavator obtained in the last detection is 31, and the position corresponding to the second position information of the mining cross section of the excavator obtained currently is 32, the distance between the position 31 and the position 32 can be calculated, and when the distance between the position 31 and the position 32 is greater than the threshold value, the position update information is sent; otherwise, no location update information is sent. Specifically, the position update information of the loading position may be sent to the unmanned vehicle parked at the loading position in the subspace, and the position update information of the loading position may be sent to the unmanned vehicle parked at the loading position in the subspace.
In the embodiment provided by the present disclosure, the to-be-loaded area may include two groups of subspaces, each group of subspaces includes one to-be-loaded position and one loading position, and the to-be-loaded position and the loading position in each group are diagonally distributed. And a group of positions to be loaded and unmanned vehicles staying in the loading positions are arranged in the loading area at the same time. For details, reference may be made to the description of the above embodiments, which are not described herein again. In addition, in the embodiment, two unmanned vehicles can be parked on the two loading positions of the loading area at the same time, so that the excavator can load the two unmanned vehicles staying on the loading positions at the same time, and the loading efficiency is improved. In addition, the to-be-loaded position can stop an empty unmanned vehicle, so that the unmanned vehicle stopped at the loading position can conveniently drive away after loading is finished. In the process of driving away the unmanned vehicle parked at the loading position, the unmanned vehicle parked at the position to be loaded can give way to a driving away route through the unmanned vehicle which advances for a distance to the rear according to the situation, if necessary, and then is parked at the loading area after driving away, and meanwhile, the no-load unmanned vehicle parked at the waiting area can drive into the corresponding loading position and stop at the position to be loaded after receiving the instruction containing the position information.
In an embodiment provided by the present disclosure, based on the above embodiment, the method may further include the following steps:
s260, obtaining first vehicle model information of the excavator and second vehicle model information of the unmanned vehicle to be parked in the loading area.
And S270, determining whether the position information of the loading position and the position information of the position to be loaded in the loading area need to be adjusted or not based on the first vehicle model information and the second vehicle model information.
In the embodiment provided by the present disclosure, the loading bits and the bits to be loaded in the loading area may be primarily divided according to the implementation manner shown in fig. 2 and the corresponding embodiment, and this division manner may take most cases into consideration. However, it is considered that different models of excavating vehicles and unmanned vehicles may be adopted, and parameters such as sizes, lengths, widths and the like of the excavating vehicles may be different, so that the unmanned vehicles may not be well matched with the divided loading positions or positions to be loaded due to the models and the like of the unmanned vehicles, for example, the space of the loading positions or the positions to be loaded is too large or too small to be well matched with the sizes of the unmanned vehicles, or the excavator may not be well worked due to the fact that the size of the excavator is different from the size of the excavator considered in advance.
Therefore, the embodiment can adapt the position information of the loading position and the position information of the loading position in the sub-space according to the first vehicle model information of the excavator and the second vehicle model information of the unmanned vehicle to be parked in the loading area. For example, when the first vehicle model information and the second vehicle model information do not match the preset vehicle information, the generated space of the loading position and the loading position may not match the excavator or the unmanned vehicle, and the position of the loading position and/or the loading position may be moved accordingly, or the size of the space of the loading position and the loading position may be adjusted, etc. This can improve the efficiency of operation of excavators and unmanned vehicles in the mine.
In an embodiment provided by the present disclosure, based on the above embodiment, the method may further include the following steps:
and S280, receiving manual operation information of the excavator driver on the loading area.
And S290, adjusting the position information of the loading position and/or the position information of the to-be-loaded position in the subspace based on the manual operation information.
In the embodiment of the disclosure, as the excavator driver works on site and can well know the current situation, the excavator driver can properly fine-tune or adjust the position information of the loading position or the position information of the position to be loaded in the subspace according to the current situation, and can also adjust the position information of the loading position and the position information of the position to be loaded in the subspace at the same time, which is beneficial to improving the operation efficiency of a mining area.
In the case of adopting the function modules divided corresponding to the functions, the embodiment of the present disclosure provides an information processing apparatus for mining work, which may be a server or a chip applied to the server. Fig. 4 is a functional module schematic block diagram of an information processing device for mine work according to an exemplary embodiment of the disclosure. As shown in fig. 4, the information processing apparatus for mining work includes:
the excavator position information acquisition module 11 is used for acquiring position information of at least one excavator in a mining area;
a spatial position information obtaining module 12, configured to obtain spatial position information of a loading area corresponding to the excavator;
and the space dividing module 13 is configured to divide the loading area into at least one group of subspaces based on the spatial position information and the position information of the excavator, where the subspaces include a loading position and a position to be loaded.
In yet another embodiment provided by the present disclosure, the spatial location information includes location information of a mining face of the excavator and orientation information of the loading area.
In yet another embodiment provided by the present disclosure, the apparatus further comprises:
the detection module is used for detecting whether the position information of the excavation section of the excavator changes or not;
the current position information acquisition module is used for acquiring the current position information of the excavation section of the excavator under the condition that the position information of the excavation section of the excavator is detected to be changed;
and the position information updating module is used for updating the position information of the loading position and the position information of the position to be loaded in the loading area based on the current position information of the digging section of the digging machine and the position information of the digging machine, or based on the current position information of the digging section of the digging machine, the position information of the target digging machine and the direction information of the loading area.
In yet another embodiment provided by the present disclosure, the apparatus further comprises:
the variable distance judging module is used for judging whether the variable distance of the excavation section of the excavator is larger than a threshold value or not based on the first position information and the second position information under the condition that the position information of the excavation section of the excavator is changed from the first position information to the second position information;
and the position updating information sending module is used for sending the position updating information to the unmanned vehicle parked in the subspace under the condition that the position updating information is larger than the threshold value.
In another embodiment provided by the present disclosure, the location update information includes location update information of a loading bit and location update information of a to-be-loaded bit; the location update information sending module includes:
and the position updating information sending submodule is used for sending the position updating information of the loading position to the unmanned vehicle parked at the loading position in the subspace and sending the position updating information of the loading position to the unmanned vehicle parked at the loading position in the subspace.
In another embodiment provided by the present disclosure, the loading area includes two groups of subspaces, and the positions to be loaded and the loading positions in each group of subspaces are diagonally distributed; unmanned vehicles are parked in a group of subspaces in the loading area.
In yet another embodiment provided by the present disclosure, the apparatus further comprises:
the direction information determining module is used for obtaining the direction information of the loading area through a sensing device arranged on the excavator body; the sensing device comprises a laser radar, a millimeter wave radar or a camera.
In yet another embodiment provided by the present disclosure, the apparatus further comprises:
the vehicle model information acquisition module is used for acquiring first vehicle model information of the excavator and second vehicle model information of an unmanned vehicle to be parked in the loading area;
and the position information determining module is used for determining whether the position information of the loading position and the position information of the position to be loaded in the loading area need to be adjusted or not based on the first vehicle model information and the second vehicle model information.
In yet another embodiment provided by the present disclosure, the apparatus further comprises:
the information receiving module is used for receiving manual operation information of the excavator driver on the loading area;
and the position information adjusting module is used for adjusting the position information of the loading position and/or the position information of the to-be-loaded position in the subspace based on the manual operation information.
For the related apparatus part, reference may be made to the corresponding description of the above embodiments, which is not described herein again.
According to the information processing device for the mining area operation, the position information of at least one excavator in the mining area is obtained, the space position information of the loading area corresponding to the excavator is obtained, the loading area is divided into at least one group of subspaces based on the space position information and the position information of the excavator, and the subspaces comprise the loading positions and the positions to be loaded. The loading area can be conveniently divided into at least one group of subspaces by acquiring the position information of the excavator and the space position information of the corresponding loading area, so that the loading position and the position to be loaded in the loading area are determined, the unmanned mining vehicle can conveniently stop in the loading area, a driver of the excavator can be prevented from setting a proper loading area for the unmanned transport vehicle before loading, and the operation efficiency of a mining area is improved to a great extent.
And along with the continuous operation of the excavator, the excavating section of the excavator continuously moves, the position information of each group of subspace loading positions in the loading area and the position information of the to-be-loaded positions can be automatically calculated, the condition that the excavator needs to set a proper loading area for an unmanned transport vehicle before loading every time is avoided, and the operation efficiency of a mining area can be improved to a great extent by the aid of the method and the device.
An embodiment of the present disclosure further provides an electronic device, including: at least one processor; a memory for storing the at least one processor-executable instruction; wherein the at least one processor is configured to execute the instructions to implement the above-mentioned methods disclosed by the embodiments of the present disclosure.
Fig. 5 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present disclosure. As shown in fig. 5, the electronic device 1800 includes at least one processor 1801 and a memory 1802 coupled to the processor 1801, wherein the processor 1801 may perform corresponding steps of the above methods disclosed in the embodiments of the present disclosure.
The processor 1801 may also be referred to as a Central Processing Unit (CPU), which may be an integrated circuit chip having signal processing capability. The steps of the above method disclosed in the embodiment of the present disclosure may be implemented by integrated logic circuits of hardware in the processor 1801 or instructions in the form of software. The processor 1801 may be a general purpose processor, a Digital Signal Processor (DSP), an ASIC, an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present disclosure may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. Software modules may reside in memory 1802 such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, or other storage medium known in the art. The processor 1801 reads the information in the memory 1802 and, in conjunction with its hardware, performs the steps of the above-described method.
In addition, in the case where various operations/processes according to the present disclosure are implemented by software and/or firmware, a program constituting the software may be installed from a storage medium or a network to a computer system having a dedicated hardware structure, for example, the computer system 1900 shown in fig. 6, which is capable of executing various functions including functions such as those described above, etc., when the various programs are installed. Fig. 6 is a block diagram of a computer system according to an exemplary embodiment of the present disclosure.
As shown in fig. 6, the computer system 1900 includes a computing unit 1901, and the computing unit 1901 can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 1902 or a computer program loaded from a storage unit 1908 into a Random Access Memory (RAM) 1903. In the RAM 1903, various programs and data required for the operation of the computer system 1900 can also be stored. The computing unit 1901, ROM 1902, and RAM 1903 are connected to each other via a bus 1904. An input/output (I/O) interface 1905 is also connected to bus 1904.
A number of components in computer system 1900 are connected to I/O interface 1905, including: an input unit 1906, an output unit 1907, a storage unit 1908, and a communication unit 1909. The input unit 1906 may be any type of device capable of inputting information to the computer system 1900, and the input unit 1906 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device. Output unit 1907 can be any type of device capable of presenting information and can include, but is not limited to, a display, speakers, a video/audio output terminal, a vibrator, and/or a printer. Storage unit 1908 can include, but is not limited to, a magnetic disk, an optical disk. The communication unit 1909 allows the computer system 1900 to exchange information/data with other devices via a network, such as the Internet, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and/or a chipset, such as a Bluetooth (TM) device, a WiFi device, a WiMax device, a cellular communication device, and/or the like.
The computing unit 1901 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computation unit 1901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computation chips, various computation units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 1901 performs the respective methods and processes described above. For example, in some embodiments, the above-described methods disclosed by embodiments of the present disclosure may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 1908. In some embodiments, part or all of the computer program can be loaded and/or installed onto the electronic device 1900 via the ROM 1902 and/or the communication unit 1909. In some embodiments, the computing unit 1901 may be configured by any other suitable means (e.g., by means of firmware) to perform the above-described methods disclosed by the embodiments of the present disclosure.
The disclosed embodiments also provide a computer-readable storage medium, wherein when instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the above method disclosed in the disclosed embodiments.
A computer readable storage medium in embodiments of the disclosure may be a tangible medium that may contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specifically, the computer-readable storage medium may include one or more wire-based electrical connections, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may be separate and not incorporated into the electronic device.
The embodiments of the present disclosure also provide a computer program product, which includes a computer program, wherein the computer program, when executed by a processor, implements the above method disclosed by the embodiments of the present disclosure.
In embodiments of the present disclosure, computer program code for carrying out operations of the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules, components or units described in the embodiments of the present disclosure may be implemented by software, or may be implemented by hardware. Wherein the designation of a module, component or unit does not in some way constitute a limitation on the module, component or unit itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.
The foregoing description is only exemplary of some embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications can be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (12)
1. An information processing method for mine operations, the method comprising:
acquiring position information of at least one excavator in a mining area;
acquiring spatial position information of a loading area corresponding to the excavator;
and dividing the loading area into at least one group of subspaces based on the space position information and the position information of the excavator, wherein the subspaces comprise loading positions and positions to be loaded.
2. The method of claim 1, wherein the spatial location information includes location information of a mining face of the excavator and orientation information of the loading area.
3. The method of claim 2, further comprising:
detecting whether the position information of the excavating section of the excavator changes or not;
under the condition that the position information of the excavating section of the excavator is detected to be changed, acquiring the current position information of the excavating section of the excavator;
updating the position information of the loading position and the position information of the to-be-loaded position in the subspace based on the current position information of the digging machine digging section and the position information of the digging machine, or based on the current position information of the digging machine digging section, the position information of the digging machine and the direction information of the loading region.
4. A method according to claim 2 or 3, characterized in that the method further comprises:
when the position information of the excavating machine mining section is changed from first position information to second position information, judging whether the variation distance of the excavating machine mining section is larger than a threshold value or not based on the first position information and the second position information;
and if the position is larger than the threshold value, sending position updating information to the unmanned vehicles parked in the subspace.
5. The method according to claim 4, wherein the location update information includes location update information of a loading bit and location update information of a to-be-loaded bit; the sending of location update information to the unmanned vehicle parked in the subspace includes:
and sending the position updating information of the loading position to the unmanned vehicle parked at the loading position in the subspace, and sending the position updating information of the loading position to the unmanned vehicle parked at the loading position in the subspace.
6. The method according to claim 1, wherein the loading area comprises two groups of subspaces, and the loading positions and the positions to be loaded in each group of subspaces are diagonally distributed; unmanned vehicles are parked in a group of subspaces in the loading area.
7. The method of claim 2, further comprising:
obtaining direction information of the loading area through a sensing device arranged on the excavator body; the sensing device comprises a laser radar, a millimeter wave radar or a camera.
8. The method of claim 1, further comprising:
acquiring first vehicle model information of the excavator and second vehicle model information of an unmanned vehicle to be parked in the loading area;
and determining whether the position information of the loading position and the position information of the position to be loaded in the loading area need to be adjusted or not based on the first vehicle model information and the second vehicle model information.
9. The method of claim 1, further comprising:
receiving manual operation information of the excavator driver on the loading area;
and adjusting the position information of the loading position and/or the position information of the position to be loaded in the subspace based on the manual operation information.
10. An information processing apparatus for mining operations, the apparatus comprising:
the excavator position information acquisition module is used for acquiring the position information of at least one excavator in a mining area;
the space position information acquisition module is used for acquiring space position information of a loading area corresponding to the excavator;
and the space dividing module is used for dividing the loading area into at least one group of subspaces based on the space position information and the position information of the excavator, and the subspaces comprise loading positions and positions to be loaded.
11. An electronic device, comprising:
at least one processor;
a memory for storing the at least one processor-executable instruction;
wherein the at least one processor is configured to execute the instructions to implement the method of any of claims 1-9.
12. A computer-readable storage medium, wherein instructions in the computer-readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the method of any of claims 1-9.
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