CN117585481A - Mining area material loading and unloading coordinated control system based on 5G communication - Google Patents
Mining area material loading and unloading coordinated control system based on 5G communication Download PDFInfo
- Publication number
- CN117585481A CN117585481A CN202311669624.8A CN202311669624A CN117585481A CN 117585481 A CN117585481 A CN 117585481A CN 202311669624 A CN202311669624 A CN 202311669624A CN 117585481 A CN117585481 A CN 117585481A
- Authority
- CN
- China
- Prior art keywords
- intelligent terminal
- terminal equipment
- truck
- loading
- unloading
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005065 mining Methods 0.000 title claims abstract description 88
- 230000006854 communication Effects 0.000 title claims abstract description 83
- 238000004891 communication Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 claims description 24
- 230000008569 process Effects 0.000 claims description 23
- 230000003993 interaction Effects 0.000 claims description 11
- 238000012163 sequencing technique Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000010295 mobile communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0833—Tracking
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0835—Relationships between shipper or supplier and carriers
- G06Q10/08355—Routing methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Mining
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Business, Economics & Management (AREA)
- Engineering & Computer Science (AREA)
- Economics (AREA)
- Human Resources & Organizations (AREA)
- Strategic Management (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- General Business, Economics & Management (AREA)
- Marketing (AREA)
- Physics & Mathematics (AREA)
- Tourism & Hospitality (AREA)
- Entrepreneurship & Innovation (AREA)
- Quality & Reliability (AREA)
- Operations Research (AREA)
- Development Economics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Game Theory and Decision Science (AREA)
- Mechanical Engineering (AREA)
- Agronomy & Crop Science (AREA)
- Animal Husbandry (AREA)
- Marine Sciences & Fisheries (AREA)
- Mining & Mineral Resources (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Primary Health Care (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention relates to a 5G communication-based mining area material loading and unloading coordinated control system, belongs to the technical field of mining area material loading and unloading flow control, and solves the problems of low automation degree and poor controllability of the existing mining area material loading and unloading flow control mode. The system comprises: a mining area central server, a plurality of intelligent terminal equipment of diggers, a plurality of intelligent terminal equipment of trucks and a loading controller equipped at each loading point; the mining area central server is used for generating a vehicle loading control instruction and a material loading control instruction according to a material loading task of a loading point; the vehicle loading control instruction is used for controlling the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck to run to corresponding loading points; and the loading controllers of the corresponding loading points coordinate running to the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck of the corresponding loading points according to the material loading control instructions to execute the material loading tasks.
Description
Technical Field
The invention relates to the technical field of mining area material loading and unloading flow control, in particular to a mining area material loading and unloading coordination control system based on 5G communication.
Background
At present, in the material exploitation process of a large mining area, the manual operation is needed to record various information in the material loading and unloading process, so as to control the loading and unloading flow of the material.
Although in some improvements, the management and control in the service circulation process is increased. However, the current material loading and unloading control degree is very limited, and the manual operation of related staff is dominant to complete the loading and unloading task well.
Therefore, the existing loading and unloading process of mining area materials is low in automation degree and poor in controllability. When the handling tasks are complicated or concentrated, confusion is easy to occur, so that timeliness and accuracy of the handling process are difficult to guarantee.
Therefore, how to provide a coordination control method for loading and unloading materials in mining areas with higher automation degree has become a technical problem to be solved.
Disclosure of Invention
The object of the present invention is to solve at least one of the technical drawbacks.
To this end, the invention provides a 5G communication based mine material handling coordination control system, comprising: a central server in mining area, a plurality of intelligent terminal devices for diggers, a plurality of intelligent terminal devices for trucks, and a loading controller for each loading point,
the mining area central server is used for generating a vehicle loading control instruction and a material loading control instruction according to a material loading task of a loading point; the vehicle loading control instruction is used for controlling the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck to run to corresponding loading points; the loading controllers of the corresponding loading points coordinate running to the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck of the corresponding loading points according to the material loading control instructions to execute material loading tasks;
and data interaction is performed among the mining area central server, the intelligent terminal equipment of the excavator, the intelligent terminal equipment of the truck and the loading controller through a 5G communication network.
Further, the system also comprises a discharge controller provided for each discharge point;
the mining area central server is further used for generating a vehicle unloading control instruction and a material unloading control instruction according to the material unloading task of the unloading point; the vehicle unloading control instruction is used for controlling intelligent terminal equipment of the truck to be unloaded to run to a corresponding unloading point; the unloading controllers of the corresponding unloading points coordinate to run to the intelligent terminal equipment of the truck of the corresponding unloading points according to the material unloading control instruction to execute the material unloading task;
and data interaction is performed among the mining area central server, the truck intelligent terminal equipment and the unloading controller through a 5G communication network.
Further, the mining area central server generates vehicle loading control instructions by performing the following operations:
the central server of the mining area determines the number of intelligent terminal equipment of the excavator and intelligent terminal equipment of the truck according to the material loading task;
the mining area central server acquires working states and position information of all intelligent terminal equipment of the excavator and intelligent terminal equipment of the truck through a 5G communication path; the working state of the intelligent terminal equipment of the excavator is idle, running or forbidden; the working state of the intelligent terminal equipment of the truck is idle, to be loaded, to be unloaded or disabled;
sequencing intelligent terminal equipment of the excavator and intelligent terminal equipment of the truck with idle working states according to the sequence from near to far from the corresponding loading points;
selecting a corresponding number of intelligent terminal devices of the excavator and intelligent terminal devices of the truck, which are closest to the loading point, from the sequencing results of the intelligent terminal devices of the excavator and the intelligent terminal devices of the truck respectively, and taking the intelligent terminal devices of the excavator and the intelligent terminal devices of the truck as selected intelligent terminal devices of the excavator and intelligent terminal devices of the truck;
and generating a vehicle loading control instruction according to the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck.
Further, the vehicle loading control instruction controls the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck to run to the corresponding loading point by executing the following operations:
planning the running paths of the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck to the corresponding loading points respectively, wherein the planned running paths do not conflict;
writing the driving paths of the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck into the vehicle loading control instruction, and respectively issuing the coded corresponding driving paths to the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck through a 5G communication path;
the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck respectively receive and decode corresponding running paths through 5G communication paths, and the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck run to corresponding loading points according to the decoded corresponding running paths.
Further, the material loading control instruction comprises a material loading total amount; the loading controllers of the corresponding loading points coordinate the digger intelligent terminal equipment and the truck intelligent terminal equipment which run to the corresponding loading points according to the material loading control instructions to execute the material loading tasks, and execute:
when a loading controller of a loading point detects that the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck run to the corresponding loading point, reporting that the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck are in place through a 5G communication path, and switching the working state of the selected intelligent terminal equipment of the excavator to run and the working state of the intelligent terminal equipment of the truck to be loaded through the 5G communication path by a central server of a mining area; then feeding back a loading controller, the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck through a 5G communication path to start a material loading task;
in the process of executing a material loading task, the loading controller records the accumulated material loading quantity of the intelligent terminal equipment of the excavator loaded to the intelligent terminal equipment of the truck; when the accumulated material loading amount reaches the total material loading amount, completing a material loading task;
the loading controller reports the completion of material loading task execution to a mining area central server through a 5G communication path; and then, the mining area central server switches the working state of the intelligent terminal equipment of the selected excavator to be idle through a 5G communication path, and switches the working state of the intelligent terminal equipment of the selected truck to be unloaded.
Further, when the mining area central server detects that the working state of the intelligent terminal equipment of the truck is to be unloaded, a corresponding unloading point is selected, and a material unloading task of the corresponding unloading point is generated.
Further, the mining area central server generates vehicle discharge control instructions by performing the following operations:
the mining area central server plans a running path of the intelligent terminal equipment of the truck to be unloaded to the corresponding unloading point;
writing a driving path of the intelligent terminal equipment of the truck to be unloaded to a corresponding unloading point into the vehicle unloading control instruction, and issuing a coded corresponding driving path to the intelligent terminal equipment of the truck to be unloaded through a 5G communication path;
and the intelligent terminal equipment of the truck to be unloaded receives the corresponding driving path through the 5G communication path, decodes the corresponding driving path, and runs to the corresponding unloading point according to the decoded corresponding driving path.
Further, the unloading controllers of the corresponding unloading points coordinate to run to the intelligent terminal equipment of the truck of the corresponding unloading points according to the material unloading control instructions to execute the material unloading tasks, and execute the following steps:
when the unloading controller of the unloading point detects that the intelligent terminal equipment of the truck to be unloaded runs to the corresponding unloading point, reporting that the intelligent terminal equipment of the truck to be unloaded is in place through a 5G communication path, and feeding back the unloading controller and the intelligent terminal equipment of the truck to be unloaded to start a material unloading task through the 5G communication path by the central server of the mining area;
in the process of executing a material unloading task, an unloading controller detects whether the intelligent terminal equipment of the truck to be unloaded is unloaded or not;
if the unloading is completed, the unloading controller reports the completion of the execution of the material unloading task to a central server of the mining area through a 5G communication path; and then, the mining area central server switches the working state of the intelligent terminal equipment of the truck to be unloaded to be idle through a 5G communication path.
Furthermore, high-precision positioning equipment is arranged in the intelligent terminal equipment of the excavator, the intelligent terminal equipment of the truck, the loading controller and the unloading controller;
the high-precision positioning device is used for providing high-precision positioning data.
Further, 5G DTU terminals are arranged in the mining area central server, the intelligent terminal equipment of the excavator, the intelligent terminal equipment of the truck, the loading controller and the unloading controller; the system further comprises a 5G base station;
the 5G DTU terminal is used for realizing information interaction between the mining area central server and the intelligent terminal equipment of the excavator, the intelligent terminal equipment of the truck, the loading controller and the unloading controller;
the 5G base station is used for realizing data transfer in the process of executing data transmission by the 5G communication path.
Compared with the prior art, the invention has at least one of the following beneficial effects:
according to the mining area material loading and unloading coordinated control system based on 5G communication, through the cooperation of the mining area central server, the intelligent terminal equipment of the excavator, the intelligent terminal equipment of the truck, the loading controller and the unloading controller, automatic loading and unloading of mining area materials can be realized, the degree of automation of a mining area material loading and unloading flow control mode is effectively improved, and the controllability of a mining area material loading and unloading process is effectively enhanced.
In addition, the data transmission speed of 5G communication is high, the data communication in the mining area material loading and unloading coordination control system is realized based on the 5G communication, and the information interaction between all the devices in the system can be realized more efficiently, so that the speed of the mining area material loading and unloading process is effectively improved.
In the invention, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will be apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings. Meanwhile, the drawings are only for the purpose of illustrating specific embodiments and are not to be construed as limiting the invention.
Fig. 1 is a framework diagram of a mine material loading and unloading coordinated control system based on 5G communication.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In one embodiment of the invention, a mining area material loading and unloading coordination control system based on 5G communication is disclosed, and a frame diagram is shown in fig. 1. The system comprises: a mining area central server, a plurality of intelligent terminal equipment of diggers, a plurality of intelligent terminal equipment of trucks and a loading controller equipped at each loading point; the mining area central server is used for generating a vehicle loading control instruction and a material loading control instruction according to a material loading task of a loading point; the vehicle loading control instruction is used for controlling the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck to run to corresponding loading points; the loading controllers of the corresponding loading points coordinate running to the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck of the corresponding loading points according to the material loading control instructions to execute material loading tasks; and data interaction is performed among the mining area central server, the intelligent terminal equipment of the excavator, the intelligent terminal equipment of the truck and the loading controller through a 5G communication network.
Preferably, the system further comprises a discharge controller provided for each discharge point; the mining area central server is further used for generating a vehicle unloading control instruction and a material unloading control instruction according to the material unloading task of the unloading point; the vehicle unloading control instruction is used for controlling intelligent terminal equipment of the truck to be unloaded to run to a corresponding unloading point; the unloading controllers of the corresponding unloading points coordinate to run to the intelligent terminal equipment of the truck of the corresponding unloading points according to the material unloading control instruction to execute the material unloading task; and data interaction is performed among the mining area central server, the truck intelligent terminal equipment and the unloading controller through a 5G communication network.
Next, specific execution modes of the material loading task and the material unloading task are described as follows:
(1) Material loading task
In the process of executing the material loading task, the mining area central server generates a vehicle loading control instruction by executing the following operations:
1) And the central server of the mining area determines the number of intelligent terminal equipment and the required quantity of the excavator according to the material loading task.
Preferably, in the present embodiment, the material loading control instructions include a total amount of material loading. Specifically, when the material loading task exceeds the bearing capacity of one truck intelligent terminal device, 2 or more truck intelligent terminal devices need to be coordinated to finish the material loading task together.
2) The mining area central server acquires working states and position information of all intelligent terminal equipment of the excavator and intelligent terminal equipment of the truck through a 5G communication path; the working state of the intelligent terminal equipment of the excavator is idle, running or forbidden; the working state of the intelligent terminal equipment of the truck is idle, to be loaded, to be unloaded or disabled.
When the working state of the intelligent terminal equipment of the excavator is running, the intelligent terminal equipment of the excavator is indicated to be executing other material loading tasks, and the intelligent terminal equipment of the excavator cannot participate in the material loading task. When the working state of the intelligent terminal equipment of the excavator is forbidden, the intelligent terminal equipment of the excavator cannot be used due to the fault or other reasons. Only the intelligent terminal equipment of the excavator in the idle working state has the opportunity to participate in the material loading task.
When the working state of the intelligent terminal equipment of the truck is idle, the intelligent terminal equipment of the truck is indicated to participate in the loading task of the material. When the working state of the intelligent terminal equipment of the truck is to be loaded, the intelligent terminal equipment of the truck is indicated to be involved in other material loading tasks, and cannot be involved in the material loading task. When the working state of the intelligent terminal equipment of the truck is to be unloaded, the intelligent terminal equipment of the truck is indicated to be loaded, unloading is needed, and the intelligent terminal equipment of the truck cannot participate in the loading task of the material. When the working state of the intelligent terminal equipment of the truck is forbidden, the intelligent terminal equipment of the truck cannot be used due to the fault or other reasons.
3) And sequencing the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck, which are idle in working state, according to the sequence from the near to the far from the corresponding loading point.
4) And selecting the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck, which are closest to the loading point, from the sequencing results of the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck respectively, and taking the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck as the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck.
5) And generating a vehicle loading control instruction according to the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck.
In addition, the vehicle loading control instruction controls the selected excavator intelligent terminal device and the truck intelligent terminal device to run to the corresponding loading points by executing the following operations:
1) And planning the running paths of the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck to the corresponding loading points respectively, wherein the planned running paths do not conflict.
The planning of the driving path is realized by adopting the existing mode, and is not repeated here. It is emphasized that the travel paths of the selected excavator intelligent terminal device and the truck intelligent terminal device do not collide, so that the travel safety is ensured.
2) Writing the driving paths of the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck into the vehicle loading control instruction, and respectively issuing the coded corresponding driving paths to the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck through the 5G communication path.
In this embodiment, the 5G communication path is used to indicate a communication path established between devices in the system for implementing 5G communication.
3) The selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck respectively receive and decode corresponding running paths through 5G communication paths, and the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck run to corresponding loading points according to the decoded corresponding running paths.
Preferably, the loading controller of the corresponding loading point coordinates the digger intelligent terminal device and the truck intelligent terminal device running to the corresponding loading point according to the material loading control instruction to execute the material loading task, and executes:
1) When a loading controller of a loading point detects that the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck run to the corresponding loading point, reporting that the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck are in place through a 5G communication path, and switching the working state of the selected intelligent terminal equipment of the excavator to run and the working state of the intelligent terminal equipment of the truck to be loaded through the 5G communication path by a central server of a mining area; and then feeding back the material loading controller, the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck through a 5G communication path to start the material loading task.
2) In the process of executing a material loading task, the loading controller records the accumulated material loading quantity of the intelligent terminal equipment of the excavator loaded to the intelligent terminal equipment of the truck; and when the accumulated material loading quantity reaches the total material loading quantity, completing the material loading task.
Illustratively, in the process of executing a material loading task, the loading controller records the material image of each loading of the intelligent terminal equipment of the excavator to the intelligent terminal equipment of the truck in an image mode, and the material volume of each loading is obtained by modeling the material image. And then according to the density of the materials, the material loading amount of each loading can be obtained. And accumulating the material loading amount each time to obtain the accumulated material loading amount.
3) The loading controller reports the completion of material loading task execution to a mining area central server through a 5G communication path; and then, the mining area central server switches the working state of the intelligent terminal equipment of the selected excavator to be idle through a 5G communication path, and switches the working state of the intelligent terminal equipment of the selected truck to be unloaded.
(2) Material unloading task
It should be emphasized that in this embodiment, the material loading task is the premise and basis of the material unloading task, that is, only when the material loading task is completed and the working state of the truck intelligent terminal device is switched to be unloaded, there is a requirement of the material unloading task. The following detailed description is made for the specific implementation process of the material unloading task:
when the central server of the mining area detects that the working state of the intelligent terminal equipment of the truck is to be unloaded, selecting a corresponding unloading point, and generating a material unloading task of the corresponding unloading point.
In this embodiment, the mining area central server generates the vehicle discharge control instructions by performing the following operations:
1) And the mining area central server plans a running path of the intelligent terminal equipment of the truck to be unloaded to the corresponding unloading point.
2) And writing the planned driving path of the intelligent terminal equipment of the truck to be unloaded to the corresponding unloading point into the vehicle unloading control instruction, and issuing the coded corresponding driving path to the intelligent terminal equipment of the truck to be unloaded through the 5G communication path.
3) And the intelligent terminal equipment of the truck to be unloaded receives the corresponding driving path through the 5G communication path, decodes the corresponding driving path, and runs to the corresponding unloading point according to the decoded corresponding driving path.
In addition, the unloading controller of the corresponding unloading point coordinates to run to the intelligent terminal equipment of the truck of the corresponding unloading point according to the material unloading control instruction to execute the material unloading task, and the intelligent terminal equipment of the truck executes:
1) When the unloading controller of the unloading point detects that the intelligent terminal equipment of the truck to be unloaded runs to the corresponding unloading point, the intelligent terminal equipment of the truck to be unloaded is reported to be in place through the 5G communication path, and the mining area central server feeds back the unloading controller and the intelligent terminal equipment of the truck to be unloaded through the 5G communication path to start a material unloading task.
2) And in the process of executing the material unloading task, the unloading controller detects whether the intelligent terminal equipment of the truck to be unloaded is unloaded or not.
The unloading controller records whether the carriage of the intelligent terminal equipment of the truck to be unloaded is empty or not in an image mode, and when the carriage is empty, the unloading controller indicates that the intelligent terminal equipment of the truck is unloaded.
3) If the unloading is completed, the unloading controller reports the completion of the execution of the material unloading task to a central server of the mining area through a 5G communication path; and then, the mining area central server switches the working state of the intelligent terminal equipment of the truck to be unloaded to be idle through a 5G communication path.
After the working state of the truck intelligent terminal equipment is switched to be idle, if a material loading task is generated, the truck intelligent terminal equipment can be used as an alternative to participate in the truck intelligent terminal equipment sequencing link when the material loading task is generated, and if the material loading task is selected, the next material loading task can be executed.
Preferably, in order to improve the control precision of the system in this embodiment, high-precision positioning devices are built in the intelligent terminal device of the excavator, the intelligent terminal device of the truck, the loading controller and the unloading controller. In the implementation process, the high-precision positioning device is used for providing high-precision positioning data.
In addition, in order to improve the information transmission efficiency of the system in the implementation, 5G DTU terminals are arranged in a mining area central server, a digger intelligent terminal device, a truck intelligent terminal device, a loading controller and a unloading controller; the system also includes a 5G base station. In the implementation process, the 5GDTU terminal is used for realizing information interaction between a mining area central server and intelligent terminal equipment of a digging machine, intelligent terminal equipment of a truck, a loading controller and a unloading controller. The 5G base station is used for realizing data transfer in the process of executing data transmission by the 5G communication path. In addition, in the embodiment of the invention, the serial port communication mode used in the 5G communication process can adopt two communication modes of RS485 and RS 232.
In summary, according to the mining area material loading and unloading coordinated control system based on 5G communication provided in this embodiment, through the cooperation of the mining area central server, the intelligent terminal device of the excavator, the intelligent terminal device of the truck, the loading controller and the unloading controller, automatic loading and unloading of mining area materials can be realized, the automation degree of the mining area material loading and unloading flow control mode is effectively improved, and the controllability of the mining area material loading and unloading process is effectively enhanced.
In addition, the fifth generation mobile communication technology (5 th Generation Mobile Communication Technology, abbreviated as 5G) is a new generation broadband mobile communication technology with high speed, low delay and large connection characteristics, and the 5G communication facility is a network infrastructure for realizing man-machine object interconnection. The data transmission speed of the 5G communication is high, and the data communication in the mining area material loading and unloading coordination control system is realized based on the 5G communication, so that the information interaction among all the devices in the system can be realized more efficiently, and the speed of the mining area material loading and unloading process is effectively improved.
In the description of the present specification, reference is made to the terms "one embodiment," "some embodiments," and "examples" and "embodiments" as used herein,
The description of "an example," "a particular example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A mining area material loading and unloading coordinated control system based on 5G communication, the system comprising: a central server in mining area, a plurality of intelligent terminal devices for diggers, a plurality of intelligent terminal devices for trucks, and a loading controller for each loading point,
the mining area central server is used for generating a vehicle loading control instruction and a material loading control instruction according to a material loading task of a loading point; the vehicle loading control instruction is used for controlling the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck to run to corresponding loading points; the loading controllers of the corresponding loading points coordinate running to the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck of the corresponding loading points according to the material loading control instructions to execute material loading tasks;
and data interaction is performed among the mining area central server, the intelligent terminal equipment of the excavator, the intelligent terminal equipment of the truck and the loading controller through a 5G communication network.
2. The 5G communication based mine material handling coordination control system of claim 1, further comprising a discharge controller provided for each discharge point;
the mining area central server is further used for generating a vehicle unloading control instruction and a material unloading control instruction according to the material unloading task of the unloading point; the vehicle unloading control instruction is used for controlling intelligent terminal equipment of the truck to be unloaded to run to a corresponding unloading point; the unloading controllers of the corresponding unloading points coordinate to run to the intelligent terminal equipment of the truck of the corresponding unloading points according to the material unloading control instruction to execute the material unloading task;
and data interaction is performed among the mining area central server, the truck intelligent terminal equipment and the unloading controller through a 5G communication network.
3. The 5G communication based mine material handling coordination control system of claim 2, wherein the mine central server generates vehicle loading control instructions by:
the central server of the mining area determines the number of intelligent terminal equipment of the excavator and intelligent terminal equipment of the truck according to the material loading task;
the mining area central server acquires working states and position information of all intelligent terminal equipment of the excavator and intelligent terminal equipment of the truck through a 5G communication path; the working state of the intelligent terminal equipment of the excavator is idle, running or forbidden; the working state of the intelligent terminal equipment of the truck is idle, to be loaded, to be unloaded or disabled;
sequencing intelligent terminal equipment of the excavator and intelligent terminal equipment of the truck with idle working states according to the sequence from near to far from the corresponding loading points;
selecting a corresponding number of intelligent terminal devices of the excavator and intelligent terminal devices of the truck, which are closest to the loading point, from the sequencing results of the intelligent terminal devices of the excavator and the intelligent terminal devices of the truck respectively, and taking the intelligent terminal devices of the excavator and the intelligent terminal devices of the truck as selected intelligent terminal devices of the excavator and intelligent terminal devices of the truck;
and generating a vehicle loading control instruction according to the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck.
4. A mining area material handling coordination control system based on 5G communication according to claim 3, wherein the vehicle loading control instruction controls the selected excavator intelligent terminal device and truck intelligent terminal device to operate to the corresponding loading points by performing the following operations:
planning the running paths of the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck to the corresponding loading points respectively, wherein the planned running paths do not conflict;
writing the driving paths of the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck into the vehicle loading control instruction, and respectively issuing the coded corresponding driving paths to the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck through a 5G communication path;
the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck respectively receive and decode corresponding running paths through 5G communication paths, and the intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck run to corresponding loading points according to the decoded corresponding running paths.
5. The 5G communication based mine material handling coordination control system of claim 4, wherein the material loading control instructions comprise a total amount of material loading; the loading controllers of the corresponding loading points coordinate the digger intelligent terminal equipment and the truck intelligent terminal equipment which run to the corresponding loading points according to the material loading control instructions to execute the material loading tasks, and execute:
when a loading controller of a loading point detects that the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck run to the corresponding loading point, reporting that the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck are in place through a 5G communication path, and switching the working state of the selected intelligent terminal equipment of the excavator to run and the working state of the intelligent terminal equipment of the truck to be loaded through the 5G communication path by a central server of a mining area; then feeding back a loading controller, the selected intelligent terminal equipment of the excavator and the intelligent terminal equipment of the truck through a 5G communication path to start a material loading task;
in the process of executing a material loading task, the loading controller records the accumulated material loading quantity of the intelligent terminal equipment of the excavator loaded to the intelligent terminal equipment of the truck; when the accumulated material loading amount reaches the total material loading amount, completing a material loading task;
the loading controller reports the completion of material loading task execution to a mining area central server through a 5G communication path; and then, the mining area central server switches the working state of the intelligent terminal equipment of the selected excavator to be idle through a 5G communication path, and switches the working state of the intelligent terminal equipment of the selected truck to be unloaded.
6. The mining area material loading and unloading coordinated control system based on 5G communication according to claim 5, wherein when the mining area central server detects that the working state of the truck intelligent terminal equipment is to be unloaded, a corresponding unloading point is selected, and a material unloading task of the corresponding unloading point is generated.
7. The 5G communication based mine material handling coordination control system of claim 6, wherein the mine central server generates vehicle discharge control instructions by:
the mining area central server plans a running path of the intelligent terminal equipment of the truck to be unloaded to the corresponding unloading point;
writing a driving path of the intelligent terminal equipment of the truck to be unloaded to a corresponding unloading point into the vehicle unloading control instruction, and issuing a coded corresponding driving path to the intelligent terminal equipment of the truck to be unloaded through a 5G communication path;
and the intelligent terminal equipment of the truck to be unloaded receives the corresponding driving path through the 5G communication path, decodes the corresponding driving path, and runs to the corresponding unloading point according to the decoded corresponding driving path.
8. The 5G communication based mining area material handling coordination control system of claim 7, wherein the unloading controllers of the corresponding unloading points coordinate the truck intelligent terminal device running to the corresponding unloading points to perform the material unloading tasks according to the material unloading control instructions, and perform:
when the unloading controller of the unloading point detects that the intelligent terminal equipment of the truck to be unloaded runs to the corresponding unloading point, reporting that the intelligent terminal equipment of the truck to be unloaded is in place through a 5G communication path, and feeding back the unloading controller and the intelligent terminal equipment of the truck to be unloaded to start a material unloading task through the 5G communication path by the central server of the mining area;
in the process of executing a material unloading task, an unloading controller detects whether the intelligent terminal equipment of the truck to be unloaded is unloaded or not;
if the unloading is completed, the unloading controller reports the completion of the execution of the material unloading task to a central server of the mining area through a 5G communication path; and then, the mining area central server switches the working state of the intelligent terminal equipment of the truck to be unloaded to be idle through a 5G communication path.
9. The mining area material loading and unloading coordination control system based on 5G communication according to any one of claims 2 to 8, wherein high-precision positioning devices are built in the intelligent terminal device of the excavator, the intelligent terminal device of the truck, the loading controller and the unloading controller;
the high-precision positioning device is used for providing high-precision positioning data.
10. The mining area material loading and unloading coordinated control system based on 5G communication according to claim 9, wherein 5G DTU terminals are arranged in the mining area central server, the intelligent terminal equipment of the excavator, the intelligent terminal equipment of the truck, the loading controller and the unloading controller; the system further comprises a 5G base station;
the 5G DTU terminal is used for realizing information interaction between the mining area central server and the intelligent terminal equipment of the excavator, the intelligent terminal equipment of the truck, the loading controller and the unloading controller;
the 5G base station is used for realizing data transfer in the process of executing data transmission by the 5G communication path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311669624.8A CN117585481A (en) | 2023-12-07 | 2023-12-07 | Mining area material loading and unloading coordinated control system based on 5G communication |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311669624.8A CN117585481A (en) | 2023-12-07 | 2023-12-07 | Mining area material loading and unloading coordinated control system based on 5G communication |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117585481A true CN117585481A (en) | 2024-02-23 |
Family
ID=89916710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311669624.8A Pending CN117585481A (en) | 2023-12-07 | 2023-12-07 | Mining area material loading and unloading coordinated control system based on 5G communication |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117585481A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104820898A (en) * | 2015-05-14 | 2015-08-05 | 东方浩联（北京）智能科技有限公司 | Dispatching method and system for mining system |
| CN109669427A (en) * | 2018-07-12 | 2019-04-23 | 北京图森未来科技有限公司 | Realize the system and relevant device of automatic transport of goods |
| CN110456745A (en) * | 2019-07-29 | 2019-11-15 | 湖南大学 | A kind of Full-automatic underground mining haul system |
| CN111600933A (en) * | 2020-04-15 | 2020-08-28 | 北京踏歌智行科技有限公司 | Mining area unmanned transportation system based on 5G and mine forklift cooperative control method thereof |
| US20200356942A1 (en) * | 2017-01-17 | 2020-11-12 | Admmit Inc. | Automated material inventory and delivery system for underground mines |
| CN212229815U (en) * | 2020-05-15 | 2020-12-25 | 长沙智能驾驶研究院有限公司 | Mining area shipment management system |
| CN114282706A (en) * | 2021-11-18 | 2022-04-05 | 郑州宇通矿用装备有限公司 | Surface mine operation method and system |
| CN114913617A (en) * | 2022-04-27 | 2022-08-16 | 天瑞集团信息科技有限公司 | Loading and unloading flow control system based on 2.4G radio frequency identification and single chip microcomputer |
| CN115963820A (en) * | 2022-12-13 | 2023-04-14 | 江苏集萃清联智控科技有限公司 | Wisdom mine system |
| CN116700270A (en) * | 2023-06-26 | 2023-09-05 | 天津水泥工业设计研究院有限公司 | Unmanned mining card and manual driving excavator collaborative loading method and system |
-
2023
- 2023-12-07 CN CN202311669624.8A patent/CN117585481A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104820898A (en) * | 2015-05-14 | 2015-08-05 | 东方浩联（北京）智能科技有限公司 | Dispatching method and system for mining system |
| US20200356942A1 (en) * | 2017-01-17 | 2020-11-12 | Admmit Inc. | Automated material inventory and delivery system for underground mines |
| CN109669427A (en) * | 2018-07-12 | 2019-04-23 | 北京图森未来科技有限公司 | Realize the system and relevant device of automatic transport of goods |
| CN110456745A (en) * | 2019-07-29 | 2019-11-15 | 湖南大学 | A kind of Full-automatic underground mining haul system |
| CN111600933A (en) * | 2020-04-15 | 2020-08-28 | 北京踏歌智行科技有限公司 | Mining area unmanned transportation system based on 5G and mine forklift cooperative control method thereof |
| CN212229815U (en) * | 2020-05-15 | 2020-12-25 | 长沙智能驾驶研究院有限公司 | Mining area shipment management system |
| CN114282706A (en) * | 2021-11-18 | 2022-04-05 | 郑州宇通矿用装备有限公司 | Surface mine operation method and system |
| CN114913617A (en) * | 2022-04-27 | 2022-08-16 | 天瑞集团信息科技有限公司 | Loading and unloading flow control system based on 2.4G radio frequency identification and single chip microcomputer |
| CN115963820A (en) * | 2022-12-13 | 2023-04-14 | 江苏集萃清联智控科技有限公司 | Wisdom mine system |
| CN116700270A (en) * | 2023-06-26 | 2023-09-05 | 天津水泥工业设计研究院有限公司 | Unmanned mining card and manual driving excavator collaborative loading method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111596658A (en) | Multi-AGV collision-free operation path planning method and scheduling system | |
| CN107253445A (en) | A kind of self-service charging method of electric automobile and system | |
| CN112987669B (en) | RGV scheduling method based on serial scheduling algorithm | |
| CN111091238A (en) | Automatic container terminal AGV intelligent scheduling method | |
| CN108909514A (en) | More AGV power management systems and method based on automatic battery replacement | |
| CN110544061A (en) | Material distribution method and system | |
| CN110797943B (en) | Charging method, charging device, server and charging system | |
| CN111563672A (en) | Method for configuring number of multiple AGV | |
| CN115617001A (en) | Circular orbit RGV cluster scheduling system | |
| WO2024066117A1 (en) | Unmanned vehicle scheduling platform, unmanned vehicle, scheduling method and storage medium | |
| WO2020103810A1 (en) | Agv base point type communication system and communication method, and computer readable storage medium | |
| CN107544310A (en) | The equipment charge method and charging device of automatic dock | |
| CN117585481A (en) | Mining area material loading and unloading coordinated control system based on 5G communication | |
| CN110498343A (en) | Intelligently lifting is put in storage control system and method to PC component | |
| CN106864486A (en) | A kind of train the whole network control system and method | |
| CN112804644A (en) | Multi-AGV multi-task scheduling system based on workshop 5G networking | |
| CN110458400A (en) | Underground mining intelligently sends ore blending system | |
| CN106315415B (en) | The control method and system of cupric electrolysis bridge crane | |
| CN114629243A (en) | Integrated energy storage power station monitoring platform server, monitoring system and monitoring method | |
| CN113233070B (en) | Online stacker control method and system based on Internet of things | |
| CN115432086A (en) | Variable-station automobile production line using flexible interface and automobile production method | |
| CN105800471A (en) | Full-automatic overhead crane control system and method as well as full-automatic overhead crane | |
| CN110994719B (en) | Charging management method and device for automation equipment | |
| CN110482411B (en) | Crane control system and method based on autonomous control | |
| CN210116403U (en) | Intelligent management control system for charging and battery replacement of electric ship |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |