CN117893349A - Mine management method and management system based on Internet of things - Google Patents
Mine management method and management system based on Internet of things Download PDFInfo
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Abstract
The invention relates to the technical field of intelligent mines, in particular to a mine management method and a management system based on the Internet of things, which solve the problem that an unmanned mine card cannot give way according to a driving route of a driving mine card when running in a mining area, and provide a mine management method for solving the problems, wherein the mine management method comprises the following steps: acquiring a destination which the unmanned mine card needs to reach, and determining a driving route of the unmanned mine card according to the destination; when an unmanned mine card arrives at a management and control area from a mine card dispatching system, the traffic condition of the corresponding intersection of the management and control area is obtained, and the optimal running speed is adjusted according to the traffic condition; when a fault occurs in the mine, planning a driving route for driving the mine card according to the fault location; and calculating the driving time length corresponding to each driving route and the number of unmanned mine cards on each driving route, obtaining a maintenance route according to the number of unmanned mine cards and the driving time length, and adjusting the optimal running speed by the unmanned mine cards according to the maintenance route.
Description
Technical Field
The invention relates to the technical field of intelligent mines, in particular to a mine management method and system based on the Internet of things.
Background
The mining truck is an important transportation tool for mines, the mining truck is short for mine cards in work, for large mining areas, a plurality of intersections exist on the roads of the mining areas, when the unmanned mine cards pass through the intersections, the unmanned mine cards need to be decelerated or stopped at the intersections, the unmanned mine cards pass through the intersections in sequence according to the sequence of arriving at the intersections, the transportation efficiency of the unmanned mine cards is definitely reduced, and meanwhile, when the mining cards driven by people need to arrive at a fault place for maintenance, the unmanned mine cards cannot give way in advance according to the moving path of the driving mine cards, so that the driving mine cards cannot arrive at the fault place for the first time.
Disclosure of Invention
The invention solves the problems that: when the unmanned mine truck runs in the mine area, the problem that the way can not be given according to the driving route of the driving mine truck is solved.
In order to solve the above problems, an embodiment of the present invention provides a safe and energy-saving mine management method based on the internet of things, where the management method includes: establishing an ore card dispatching system, wherein unmanned ore cards and driving ore cards are arranged in the mine, and the ore card dispatching system dispatches the unmanned ore cards and the driving ore cards according to the working progress of the mine; acquiring road information of a mine, marking road openings according to the road information, and setting a management and control area at each road opening; acquiring a destination which the unmanned mine card needs to reach, and determining a driving route of the unmanned mine card according to the destination; after the running route is determined, calculating the running time required by the unmanned mining card to reach each intersection according to the optimal running speed of the unmanned mining card; when an unmanned mine card arrives at a management and control area from a mine card dispatching system, the traffic condition of the corresponding intersection of the management and control area is obtained, and the optimal running speed is adjusted according to the traffic condition; when a fault occurs in the mine, the driving mine card is required to go to the site for processing, and a driving route of the driving mine card is planned according to the fault site; and calculating the driving time length corresponding to each driving route and the number of unmanned mine cards on each driving route, screening the driving routes according to the number of unmanned mine cards and the driving time length to obtain maintenance routes, and adjusting the optimal driving speed by the unmanned mine cards according to the maintenance routes.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the setting of ore deposit card dispatch system can real-timely know the operation condition of unmanned ore deposit card and driving ore deposit card in the mining area, let ore deposit card dispatch in the mining area more reasonable, the setting of management and control area, let every crossing in the mining area all can be reasonable manage and control, promote unmanned ore deposit card through the efficiency of way mouth, unmanned ore deposit card travel route's screening, let unmanned ore deposit card's departure route laminate with the operation condition in the mining area more, the prediction of travel time and traffic condition, let ore deposit card dispatch system can foresee the sight when unmanned ore deposit card arrives corresponding crossing in advance, through the mode of adjusting optimum travel speed, unmanned ore deposit card is stopped at crossing department, save unmanned ore deposit card's energy consumption, transportation cost has also been reduced when guaranteeing transport efficiency, the selection of driving route, let driving ore deposit card can reach the trouble place fast, can timely processing when the mining area breaks down, the stability of mine operation has been promoted, the selection of maintenance route, fully considered in the driving ore card travel process to unmanned ore deposit card causes the influence to unmanned ore deposit card when guaranteeing that the card arrives the trouble smoothly, the driving ore card is to the trouble place as far as possible is reduced.
In one embodiment of the present invention, road information of a mine is obtained, road openings are marked according to the road information, and a management and control area is set at each road opening, which specifically includes: acquiring the number of roads connected with the intersection, and determining a first control coefficient of the intersection according to the number of roads; acquiring the road width corresponding to each road, and determining a second control coefficient corresponding to the road according to the road width; and determining the control distance corresponding to the control area according to the first control coefficient and the second control coefficient.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the first management and control coefficient is set, the difference of the traffic of unmanned mine cards at different road openings is fully considered, the second management and control coefficient is set, the difficulty that the unmanned mine cards travel along the road through intelligent driving is fully considered, different management and control distances are set according to different travel difficulties, the unmanned mine cards can be ensured to have sufficient adjustment time when passing through each road opening, different management and control areas are set according to different road openings in a mine, and the management and control of the unmanned mine cards are more in line with the actual conditions in the mine.
In one embodiment of the invention, a destination to which the unmanned mining card needs to reach is obtained, and a driving route of the unmanned mining card is determined according to the destination, which specifically comprises: obtaining an optional route of the unmanned mine card to a destination according to the road information; and acquiring the driving distance and the control distance of each selectable route, and determining the driving route according to the driving distance and the control distance.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the driving route is determined through the selectable route, so that the unmanned mining card can quickly start according to the driving route after receiving the working instruction, and the working efficiency of the unmanned mining card is improved.
In one embodiment of the present invention, when an unmanned mine card arrives at a control area from a mine card dispatching system, the traffic condition of the corresponding intersection of the control area is obtained, and the optimal running speed is adjusted according to the traffic condition, which specifically includes: the time node of the unmanned mine card entering the control area is marked as a first node, and the time node of the unmanned mine card reaching the intersection is marked as a second node; calculating the control time of the unmanned mine card according to the first node and the second node; the unmanned mine cards passing through the intersection in the control time are recorded as meeting mine cards, the time node of each meeting mine card passing through the intersection is obtained, and a third node is obtained; and screening the meeting ore cards according to the third node to obtain interference ore cards, and adjusting the optimal running speed according to the interference ore cards.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the setting of first node, the specific time that can be accurate obtain unmanned ore deposit card can begin the adjustment speed of traveling, under the assistance of first management and control coefficient and second management and control coefficient, can ensure that unmanned ore deposit card has sufficient adjustment time, the setting of second node can make the judgement according to the unmanned ore deposit card that has accomplished work planning, obtain unmanned ore deposit card at the in-process that manages the regional crossing of traveling of control, the traffic condition at the crossing that manages the regional correspondence of control, the screening of interference ore deposit card, let unmanned ore deposit card's speed adjustment more accurate.
In one embodiment of the present invention, the method includes screening the meeting mine cards according to the third node to obtain the interference mine cards, and adjusting the optimal running speed according to the interference mine cards, and specifically includes: obtaining interference nodes according to the time nodes of the interference cards reaching the intersections, and sequencing the interference nodes according to time; acquiring a safety time interval when the unmanned mine cards sequentially pass through the intersection, and judging whether the second node can be inserted between any two interference nodes according to the safety time interval and the interference nodes; if yes, calculating an allowable time range corresponding to the second node, calculating a first speed adjusting range according to the allowable time range, and calculating a second speed adjusting range according to the time corresponding to the last interference node; determining the optimal running speed of the unmanned mining card according to the first speed adjusting range and the second speed adjusting range; if not, calculating a second speed adjusting range according to the time corresponding to the last interference node. And adjusting the second node according to the third node and the first node to obtain a correction node, and calculating the adjustment amount of the optimal running speed according to the time difference value between the correction node and the second node.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: through carrying out the order to the interference node, can be quick judge whether the second node can insert, the adjustment range of unmanned ore deposit card travel time in the management and control region can be obtained in the setting of allowed time range, and calculation in first speed range and second speed range lets unmanned ore deposit card can adjust suitable travel speed according to different operational environment, avoids unmanned ore deposit card to park waiting at crossing department.
In one embodiment of the invention, determining the optimal driving speed of the unmanned mining card according to the first speed adjusting range and the second speed adjusting range specifically comprises: selecting a speed value closest to the optimal running speed from the first speed adjustment range, and recording the speed value as the first running speed; selecting a speed value closest to the optimal running speed from the second speed adjustment range, and recording the speed value as a second running speed; judging whether the unmanned mining card can run at the first running speed, if so, adjusting the optimal running speed to the first running speed; if not, the optimal running speed is adjusted to the second running speed.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: through judging whether unmanned ore deposit card can be with first travel speed operation, ensure that unmanned ore deposit card can pass through the crossing in the prescribed time, avoid influencing the normal travel of disturbing the ore deposit card, the screening of first travel speed and second travel speed, when guaranteeing that unmanned ore deposit card passes through the crossing, be close to optimal travel speed as far as possible, reduce unmanned ore deposit card's energy consumption, reduce unmanned ore deposit card's transportation cost.
In one embodiment of the present invention, a driving duration corresponding to each driving route and the number of unmanned mine cards on each driving route are calculated, the driving routes are screened according to the number of unmanned mine cards and the driving duration, a maintenance route is obtained, and the unmanned mine cards adjust an optimal driving speed according to the maintenance route, and the method specifically includes: acquiring maintenance running speed of a driving mine card, calculating time nodes corresponding to the arrival of information at each intersection along each road under the maintenance running speed, and marking the time nodes as maintenance nodes; determining the protection duration of the maintenance node according to the first control coefficient corresponding to the intersection, wherein the unmanned mine card cannot pass through the intersection within the protection duration; calculating unmanned mine cards of each driving route which are stopped in a protection time length to obtain maintenance stopping quantity; and selecting a maintenance route according to the maintenance stopping quantity and the maintenance running speed.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the maintenance node is obtained, so that the time for driving the mine card to reach each intersection and the setting of the protection duration can be obtained when the mine card is driven along each route, the unmanned mine card can be ensured not to interfere driving when the mine card passes through the intersection, the maintenance stopping quantity is calculated, the influence on the mining area work when the mine card is driven for maintenance can be obtained, and the mine card dispatching system is convenient to adjust timely.
In one embodiment of the present invention, a maintenance route is selected according to a maintenance cut-off amount and a maintenance traveling speed, specifically including: calculating the time of each driving route reaching the fault point according to the maintenance driving speed, and recording the time as the total driving duration; screening out a minimum value of the total driving duration and a driving route with a time difference value between the minimum value and the minimum value smaller than a first time threshold value, and marking the driving route as an optional route; and acquiring maintenance stopping quantity of each selectable route, and selecting a maintenance route from the selectable routes according to the maintenance stopping quantity.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the setting of the first time threshold value can obtain a driving route with a smaller total driving duration difference, and the obtaining of maintenance stopping quantity can intuitively show the influence of each optional route on mining area work at the moment, and the maintenance route is selected according to the maintenance stopping quantity, so that the influence on the work of other unmanned mining cards is reduced while the rapid arrival of the driving mining cards is ensured.
In one embodiment of the present invention, the present invention provides a safe and energy-saving mine management system based on the internet of things, where the management method described in the above embodiment is applied to the mine management system, the mine management system includes: the map module is used for acquiring road information and planning a driving route; the prediction module is used for predicting traffic conditions; the calculation module is used for calculating the driving duration; the screening module is used for screening the driving route to obtain a maintenance route, and the mine management system has all technical characteristics of the management method and is not described in detail herein.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings to be used in the description of the embodiments will be briefly introduced, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art;
FIG. 1 is a flow chart of a mine management method of the present invention;
FIG. 2 is a second flowchart of the mine management method of the present invention;
FIG. 3 is a third flowchart of the mine management method of the present invention;
FIG. 4 is a fourth flowchart of the mine management method of the present invention;
FIG. 5 is a fifth flowchart of the mine management method of the present invention;
FIG. 6 is a system schematic diagram of the mine management system of the present invention;
reference numerals illustrate:
100-mine management system; 110-a map module; a 120-prediction module; 130-a calculation module; 140-screening module.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
[ first embodiment ]
Referring to fig. 1, in a specific embodiment, the invention provides a safe and energy-saving mine management method based on the internet of things, the management method comprises the following steps:
S100, establishing an ore card dispatching system, wherein unmanned ore cards and driving ore cards are arranged in the mine, and dispatching the unmanned ore cards and the driving ore cards according to the working progress of the mine by the ore card dispatching system;
s200, acquiring road information of a mine, marking a road opening according to the road information, and setting a management and control area at each intersection;
s300, acquiring a destination which the unmanned mine card needs to reach, and determining a driving route of the unmanned mine card according to the destination;
s400, after the driving route is determined, calculating the driving time required by the unmanned mining card to reach each intersection according to the optimal driving speed of the unmanned mining card;
s500, acquiring traffic conditions of corresponding intersections of a management and control area when an unmanned mine card arrives at the management and control area from a mine card dispatching system, and adjusting the optimal running speed according to the traffic conditions;
s600, when a fault occurs in the mine, the driving mine card is required to go to the site for processing, and a driving route of the driving mine card is planned according to the fault site;
s700, calculating driving time length corresponding to each driving route and the number of unmanned mine cards on each driving route, screening the driving routes according to the number of unmanned mine cards and the driving time length to obtain maintenance routes, and adjusting the optimal driving speed by the unmanned mine cards according to the maintenance routes.
In step S100, the mine card dispatching system can review the operation of all the mine cards in the mine area, including but not limited to the destination to which the mine cards are going, the current location of the mine cards, and the time required for the mine cards to reach each intersection. The unmanned mining truck is a mining truck controlled by a program, and the driving mining truck is a mining truck which needs a driver to drive and is usually driven by fuel oil.
In step S200, the road information of the mine is obtained before the construction of the mining area is started, and is stored in the mine truck scheduling system, and as the work of the mining area is updated in real time, each intersection in the mining area is provided with a management and control area.
In step S300, after the unmanned mining card receives the working instruction, the mining card dispatching system selects a route with a smaller number of vehicles according to the driving routes of other unmanned mining cards and driving mining cards in the mining area.
In step S400, the optimal running speed is determined by the scale of the unmanned mining card, the unmanned mining cards of different scales have different optimal running speeds, the optimal running speed corresponding to the unmanned mining card of each scale is stored in the mining card dispatching system, when the unmanned mining card runs at the optimal running speed, the energy consumption required by the unmanned mining card is the lowest, the energy consumption of the mining card is usually electric quantity consumption and oil consumption, and the time required by the unmanned mining card to reach each intersection can be predicted according to the optimal running speed and the distance between each intersection.
In step S500, each intersection has a corresponding control distance, before the unmanned mine truck enters the control area, the unmanned mine truck can travel according to an optimal travel speed, after entering the control area, speed regulation and control are required according to traffic conditions at the intersection corresponding to the control area, parking waiting is avoided before the unmanned mine truck passes through the intersection, and the change range of the travel speed of the unmanned mine truck is reduced as far as possible.
In step S700, the driving mine card is driven by the driver, the driver needs to travel along the route provided by the mine card dispatching system in the driving process, so as to avoid congestion caused by the fact that the driving mine card and other unmanned mine cards travel into the same route, and after the driving route is selected, in order to ensure that the road of the driving mine card is smooth, the unmanned mine card on the driving route needs to be kept still when the driving mine card passes, so that interference to the driver of the driving mine card is avoided, and therefore, the unmanned mine card needs to adjust the optimal travel speed according to the maintenance route.
The setting of ore deposit card dispatch system can real-timely know the operation condition of unmanned ore deposit card and driving ore deposit card in the mining area, let ore deposit card dispatch in the mining area more reasonable, the setting of management and control area, let every crossing in the mining area all can be reasonable manage and control, promote unmanned ore deposit card through the efficiency of way mouth, unmanned ore deposit card travel route's screening, let unmanned ore deposit card's departure route laminate with the operation condition in the mining area more, the prediction of travel time and traffic condition, let ore deposit card dispatch system can foresee the sight when unmanned ore deposit card arrives corresponding crossing in advance, through the mode of adjusting optimum travel speed, unmanned ore deposit card is stopped at crossing department, save unmanned ore deposit card's energy consumption, transportation cost has also been reduced when guaranteeing transport efficiency, the selection of driving route, let driving ore deposit card can reach the trouble place fast, can timely processing when the mining area breaks down, the stability of mine operation has been promoted, the selection of maintenance route, fully considered in the driving ore card travel process to unmanned ore deposit card causes the influence to unmanned ore deposit card when guaranteeing that the card arrives the trouble smoothly, the driving ore card is to the trouble place as far as possible is reduced.
[ second embodiment ]
Referring to fig. 2, in a specific embodiment, obtaining road information of a mine, marking a road opening according to the road information, and setting a control area at each road opening specifically includes:
s210, acquiring the number of roads connected with the intersection, and determining a first control coefficient of the intersection according to the number of roads;
s220, obtaining the road width corresponding to each road, and determining a second control coefficient corresponding to the road according to the road width;
s230, determining the control distance corresponding to the control area according to the first control coefficient and the second control coefficient.
In step S210, the number of roads in the mine area is not fixed, the more the number of roads at the intersection is, the more difficult the control at the intersection is, and likewise, the narrower the width of the road is, the more difficult the unmanned mine truck is to travel along the road to enter the intersection, therefore, different control distances need to be set for different intersections, and when the unmanned mine truck is ensured to smoothly enter the intersection, the unmanned mine truck is also enabled to have sufficient time to adjust the speed in the control area.
The first control coefficient is changed according to the number of roads, and it is to be noted that the number of roads needs to calculate the running route of the unmanned mining card, namely the number of roads corresponding to the crossroad is not three but four, and the first control coefficient is recorded as D 1 The number of roads is D, D 1 When the intersection is an intersection, D is =1≡d 1 It should be noted that, when the first control coefficient is calculated, the number of roads is not increased without limitation, and when the number of roads exceeds five, the number of roads is not changed along with the actual situation, i.e. the minimum value of the first control coefficient is 0.2.
In step S220, the second control coefficient is determined according to the ratio of the vehicle body width to the road width, and the vehicle body width of the unmanned mining card is recorded as A 1 The road width is A 2 The second control coefficient is D 2 It should be noted that, in order to ensure normal running of the unmanned mining truck, the road width needs to satisfy 1.2A 1 ＜A 2 The second control coefficient, the vehicle body width, and the road width satisfy the following relationship:
when A is 2 ÷A 1 At > 2, D 2 =1；
When 1.2 < A 2 ÷A 1 D is less than or equal to 2 2 =2。
In step S230, in order to ensure that the unmanned mine truck can normally pass through the intersection, the length of the control distance needs at least 30m, the length of the control distance is recorded as C, and the following relationships are satisfied among the control distance, the first control coefficient and the second control coefficient:
C=30×D 2 ÷D 1 。
for example, the number of roads at the intersection is 4, A 2 =1.5A 1 At this time, the corresponding first control coefficient is 0.25, the second control coefficient is 2, and the length of the control distance at this time is 240m.
The first management and control coefficient is set, the difference of the traffic of unmanned mine cards at different road openings is fully considered, the second management and control coefficient is set, the difficulty that the unmanned mine cards travel along the road through intelligent driving is fully considered, different management and control distances are set according to different travel difficulties, the unmanned mine cards can be ensured to have sufficient adjustment time when passing through each road opening, different management and control areas are set according to different road openings in a mine, and the management and control of the unmanned mine cards are more in line with the actual conditions in the mine.
[ third embodiment ]
Referring to fig. 3, in a specific embodiment, a destination to which the unmanned mining card needs to reach is obtained, and a driving route of the unmanned mining card is determined according to the destination, which specifically includes:
s310, obtaining an optional route of the unmanned mine card to a destination according to road information;
s320, acquiring the driving distance and the control distance of each optional route, and determining the driving route according to the driving distance and the control distance.
In steps S310 to S320, a plurality of work points are set up in the mine, and destinations to which unmanned mining cards need to travel are typically all among the work points, and alternative routes from the departure point to each work point are stored in the mining card scheduling system.
It can be understood that the driving distance and the control distance of each route are correspondingly calculated, and it is required to be noted that, because the unmanned mining cards have different scales, the scales of the unmanned mining cards used are different when different works are processed, and under the influence of the second control coefficient, the driving routes of the unmanned mining cards with different scales going to the same destination have deviation.
The driving route is determined through the selectable route, so that the unmanned mining card can quickly start according to the driving route after receiving the working instruction, and the working efficiency of the unmanned mining card is improved.
[ fourth embodiment ]
Referring to fig. 4, in a specific embodiment, when an unmanned mine card arrives at a control area from a mine card dispatching system, the traffic condition of the corresponding intersection of the control area is obtained, and the optimal running speed is adjusted according to the traffic condition, which specifically includes:
s510, marking a time node of the unmanned mine card entering the control area as a first node, and marking a time node of the unmanned mine card reaching the intersection as a second node;
s520, calculating control time of unmanned mine cards according to the first node and the second node, marking the unmanned mine cards passing through the intersection in the control time as meeting mine cards, and obtaining time nodes of each meeting mine card passing through the intersection to obtain a third node;
And S530, screening the meeting ore cards according to the third node to obtain interference ore cards, and adjusting the optimal running speed according to the interference ore cards.
In steps S510 to S520, the first node and the second node are specific moments when the unmanned mine cards reach the designated positions, the control time is a time difference between the first node and the second node, for example, the time corresponding to the first node is 8 hours 25 minutes 30 seconds, the time corresponding to the second node is 8 hours 27 minutes 20 seconds, the control time of the unmanned mine cards is 1 minute 50 seconds, in the control time, the passing unmanned mine cards are also present at the intersections, the specific moment when each meeting mine card of the planned path passes through the intersections is the third node, when the newly-started unmanned mine card is in the planned path, the unmanned mine cards with planned travel need to be avoided, and the unmanned mine cards which have already traveled in the mining area need to have the planned travel route and the travel speed under the condition of no interference of the driving mine cards, and the unmanned mine cards which subsequently receive the working instructions need to adjust the optimal travel speed according to the unmanned mine cards which are traveling.
In step S530, there may be a plurality of third nodes, and the fastest running speed of the unmanned mining card is obtained, if the unmanned mining card runs at the fastest speed in the control area, before the unmanned mining card reaches the intersection, the meeting mining card still can pass through the intersection, and the meeting mining card will not affect the speed adjustment of the unmanned mining card.
It should be noted that, because the running speed of the newly-started unmanned mining card is not yet determined, the second node is only predicted according to the optimal running speed, so as to avoid collision between the running speed of the unmanned mining card and the route of the meeting mining card after being lifted, and the second node cannot be simply compared with the third node when screening the interference mining card.
The setting of first node, the specific time that can be accurate obtain unmanned ore deposit card can begin the adjustment speed of traveling, under the assistance of first management and control coefficient and second management and control coefficient, can ensure that unmanned ore deposit card has sufficient adjustment time, the setting of second node can make the judgement according to the unmanned ore deposit card that has accomplished work planning, obtain unmanned ore deposit card at the in-process that manages the regional crossing of traveling of control, the traffic condition at the crossing that manages the regional correspondence of control, the screening of interference ore deposit card, let unmanned ore deposit card's speed adjustment more accurate.
[ fifth embodiment ]
In a specific embodiment, the screening of the meeting mine cards according to the third node, to obtain the interference mine cards, and the adjustment of the optimal running speed according to the interference mine cards specifically includes:
s531, obtaining interference nodes according to the time nodes of the interference cards reaching the intersection, and sequencing the interference nodes according to time;
S532, acquiring a safety time interval when the unmanned mine cards sequentially pass through the intersection, and judging whether the second node can be inserted between any two interference nodes according to the safety time interval and the interference nodes;
s533, if yes, calculating an allowable time range corresponding to the second node, calculating a first speed adjustment range according to the allowable time range, calculating a second speed adjustment range according to the time corresponding to the last interference node, and determining the optimal running speed of the unmanned mining card according to the first speed adjustment range and the second speed adjustment range;
and S534, if not, calculating a second speed adjustment range according to the time corresponding to the last interference node, adjusting the second node according to the third node and the first node to obtain a correction node, and calculating the adjustment quantity of the optimal running speed according to the time difference between the correction node and the second node.
In step S531, each interference mine card corresponds to one interference node, each interference node is a specific moment, and after time sequencing of the interference nodes, the passable time of the unmanned mine card at the current intersection can be obtained.
In step S532, because the unmanned mine card adopts the automatic driving mode, can not follow the car when passing through the crossing, and if other mine cards appear on the travel path when passing through the crossing, the unmanned mine card can emergency brake, can't continue automatic travel even, in order to avoid this kind of condition to take place, two unmanned mine cards need set up safe time interval when passing through the crossing, ensure that both the interference mine card and unmanned mine card can pass through the crossing safely, the crossing of equidimension has different safe time intervals, unmanned mine card is followed the crossing and is gone, after safe time interval, unmanned mine card can not appear on the travel path of other mine cards.
When judging whether the second node can be inserted between any two interference nodes, the time difference between the second node and two adjacent interference nodes needs to be ensured to be larger than the safety time interval.
In step S533, an allowable time range is calculated according to the specific location of the second node, and when the second node is inserted, the allowable time range corresponding to the second node is (a, b), and the safety time interval is N, M 1 Interference node corresponding to interference mine card for first reaching intersection，M 2 A, b and M are the interference nodes corresponding to the interference mine cards of the rear arrival crossing 1 And N satisfies the following relationship:
a=M 1 ＋N；
b=M 1 －N。
in calculating the time difference between the second node and the interfering node, the specific time may be calculated by converting the specific time into seconds.
For example, M 1 The corresponding time is 8 hours, 27 minutes and 10 seconds, M 2 The corresponding time is 8 hours 28 minutes 50 seconds, n=10 seconds, where a is 8 hours 27 minutes 20 seconds and b is 8 hours 28 minutes 40 seconds.
After obtaining the time range that the unmanned mining card can pass through the intersection, further calculating a first speed adjustment range, and recording the optimal running speed as V 0 The fastest running speed is V 1 The slowest running speed is V 2 The time for reaching the intersection at the optimal running speed is c, and the time t required for running the control distance is t 0 And calculating the speed regulation time of the unmanned mining card according to the time when the optimal running speed reaches the intersection and the allowable time range. Recording the first speed regulating time as t 1 The second speed regulating time is t 2 ，t 1 =c－a，t 2 =b－c。
The control length is L, V 0 、V 1 、V 2 、t 1 And t 2 The following relationship is satisfied:
V 1 =L÷（t 0 －t 1 ）；
V 2 =L÷（t 0 ＋t 2 ）。
for example, the optimal running speed is 18km/h, a is 8 hours 27 minutes 20 seconds, b is 8 hours 27 minutes 50 seconds, c is 8 hours 27 minutes 10 seconds, and the control distance l=200m is t 0 ＝40s，t 1 ＝10s，t 2 =40s, at this time V 1 =200++10=4 m/s, i.e. 14.4km/h, V 2 =200++30=2.85 m/s, i.e. 10.6km/h.
Therefore, in the current situation, the unmanned mining card needs to reduce the speed to smoothly pass through the intersection without stopping, the first speed adjustment range is 10.6km/h to 14.4km/h, the running of the former interference mining card can be influenced when the speed exceeds 14.4km/h, and the running of the latter interference mining card can be influenced when the speed is lower than 10.6km/h.
If the arrival time of the last interference ore card at the intersection is 8 hours and 28 minutes at this moment, the unmanned ore card can normally pass in 8 minutes and 10 seconds, and if the unmanned ore card needs to reach the intersection after the last interference ore card passes through the intersection, the speed needs to be reduced to below 7.2km/h, namely, the second speed range is 0km/h to 7.2km/h.
When the unmanned mine cards have a plurality of inserting positions, the unmanned mine cards are selected according to the sequence of reaching the intersection.
In step S534, when the traffic volume of the intersection is large, the unmanned mine card cannot be inserted between two interference mine cards, the interference mine card which arrives at the intersection last is obtained, the earliest time for the unmanned mine card to arrive at the intersection is calculated according to the arrival time, after the earliest time is obtained, the earliest traffic time of the unmanned mine card is obtained according to the safety time interval, and the adjustment amount of the optimal running speed is calculated according to the earliest traffic time.
For example, if the earliest passing time of the unmanned mining card is 8 hours 27 minutes 30 seconds and the time c for reaching the intersection at the optimal driving speed is 8 hours 27 minutes 20 seconds, the unmanned mining card needs to delay reaching for 10 seconds, and the optimal driving speed needs to be adjusted from 5m/S to 4m/S, taking the data in step S533 as an example.
Through carrying out the order to the interference node, can be quick judge whether the second node can insert, the adjustment range of unmanned ore deposit card travel time in the management and control region can be obtained in the setting of allowed time range, and calculation in first speed range and second speed range lets unmanned ore deposit card can adjust suitable travel speed according to different operational environment, avoids unmanned ore deposit card to park waiting at crossing department.
[ sixth embodiment ]
In a specific embodiment, determining the optimal running speed of the unmanned mining card according to the first speed adjustment range and the second speed adjustment range specifically includes:
S533a, selecting a speed value closest to the optimal running speed from the first speed adjustment range, and recording the speed value as the first running speed; selecting a speed value closest to the optimal running speed from the second speed adjustment range, and recording the speed value as a second running speed;
s533b, judging whether the unmanned mining card can run at the first running speed, if so, adjusting the optimal running speed to the first running speed; if not, the optimal running speed is adjusted to the second running speed.
In step S533a, taking the data in step S533 as an example, the speed value closest to the optimal running speed in the first speed adjustment range is 14.4km/h, i.e., the first running speed is 14.4km/h, and the speed value closest to the optimal running speed in the second speed adjustment range is 7.2km/h, i.e., the second running speed is 7.2km/h.
In step S533b, for the command requiring deceleration of the unmanned mining card, the unmanned mining card is able to run at the first running speed, for the command requiring acceleration of the unmanned mining card, it is necessary to acquire the maximum speed that can be run according to the unmanned mining card, and if the maximum speed cannot be satisfied, it is indicated that the unmanned mining card cannot be inserted between two interfering nodes, and it is necessary to continue calculation of the next insertion position, at this time, 14.4km/h is closer to the optimal running speed than 7.2km/h, so the optimal running speed is adjusted to the first running speed.
If the first speed adjustment range is 25km/h to 30km/h and the maximum running speed of the unmanned mining card is 24km/h, it is indicated that the unmanned mining card cannot pass through the intersection between the two interference nodes, and at this time, the optimal running speed needs to be adjusted to 7.2km/h.
Through judging whether unmanned ore deposit card can be with first travel speed operation, ensure that unmanned ore deposit card can pass through the crossing in the prescribed time, avoid influencing the normal travel of disturbing the ore deposit card, the screening of first travel speed and second travel speed, when guaranteeing that unmanned ore deposit card passes through the crossing, be close to optimal travel speed as far as possible, reduce unmanned ore deposit card's energy consumption, reduce unmanned ore deposit card's transportation cost.
[ seventh embodiment ]
Referring to fig. 5, in a specific embodiment, a driving duration corresponding to each driving route and the number of unmanned mine cards on each driving route are calculated, the driving routes are screened according to the number of unmanned mine cards and the driving duration, a maintenance route is obtained, and the unmanned mine cards adjust an optimal driving speed according to the maintenance route, which specifically includes:
s710, acquiring maintenance running speed of a driving mine card, calculating time nodes corresponding to the arrival of information along each road at each intersection under the maintenance running speed, and marking the time nodes as maintenance nodes;
S720, determining the protection duration of the maintenance node according to a first control coefficient corresponding to the intersection, wherein the unmanned mine card cannot pass through the intersection within the protection duration;
and S730, calculating unmanned mine cards of each driving route which are stopped in the protection time period, obtaining maintenance stopping quantity, and selecting a maintenance route according to the maintenance stopping quantity and the maintenance driving speed.
In step S710, the maintenance travel speed of the driving truck is defined according to the specific situation of the mining area, and is usually the highest speed limit of the mining area, so that the driving truck can reach the fault location as soon as possible while ensuring safety, and after the driving route is determined, the maintenance node of the driving truck reaching each intersection is calculated according to the highest speed limit.
In step S720, the first control coefficient is related to the number of roads at the intersection, the smaller the first control coefficient is, the longer the protection time is, and the different roads have safety time intervals, the protection time is also related to the safety time interval, and the protection time is recorded as t 3 The unmanned mine card is prevented from staying at the center of the intersection, and the first control coefficient, the safety time interval and the protection duration have the following relations:
when D is 1 When=0.33, t 3 =1.5N；
When D is 1 When=0.25, t 3 =2N；
When D is 1 When=0.2, t 3 =2.5N。
In step S730, the different time routes have different travel times, but there are routes with smaller partial travel times, and in the case of smaller time difference, a proper maintenance route is selected by the maintenance stopping amount, so that the number of affected unmanned mine cards is reduced while the rapid arrival at the fault location is ensured.
The maintenance node is obtained, so that the time for driving the mine card to reach each intersection and the setting of the protection duration can be obtained when the mine card is driven along each route, the unmanned mine card can be ensured not to interfere driving when the mine card passes through the intersection, the maintenance stopping quantity is calculated, the influence on the mining area work when the mine card is driven for maintenance can be obtained, and the mine card dispatching system is convenient to adjust timely.
[ eighth embodiment ]
In a specific embodiment, the maintenance route is selected according to the maintenance stopping amount and the maintenance driving speed, and specifically includes:
s731, calculating the time of each driving route reaching the fault point according to the maintenance driving speed, and recording the time as the total driving duration;
s732, screening out a minimum value of the total driving duration and a driving route with a time difference value between the minimum value and the minimum value smaller than a first time threshold value, and marking the driving route as an optional route;
s733, obtaining maintenance stopping quantity of each optional route, and selecting a maintenance route from the optional routes according to the maintenance stopping quantity.
In steps S731 to S733, the total travel duration is calculated according to the highest speed limit of the mining area, the first time threshold is usually 1 minute, after the optional routes are obtained, the maintenance stopping amount of each optional route is calculated, the maintenance stopping amount refers to an unmanned mining card which needs to stay at the intersection for waiting because of driving the mining card, when the maintenance route is selected, screening is performed according to the total travel duration, and when the total travel duration difference is smaller, the maintenance route is determined according to the maintenance stopping amount.
For example, there are 4 driving routes from the departure point to the destination, which are marked as a first route, a second route, a third route and a fourth route, the four driving routes have total driving time periods of 5 minutes and 30 seconds, 5 minutes and 20 seconds, 5 minutes and 25 seconds and 6 minutes and 25 seconds, respectively, the total driving time period of the second route is shortest, the first time threshold is taken as 30 seconds, the driving routes with total driving time periods of less than 5 minutes and 50 seconds are all selectable routes, namely, the fourth route is not selectable, the first route, the second route and the third route are all selectable routes, the maintenance cut-off amount of the first route is 7, the maintenance cut-off amount of the second route is 8, the maintenance cut-off amount of the third route is 6, at this time, the maintenance cut-off amount of the third route is the smallest although the total driving time period of the second route is shortest, and the maintenance route should be selected as the third route in the case that the total driving time period is small.
It should be noted that, calculating the maintenance cut-off amount is more accurate than calculating the number of intersections, because the operation of the unmanned mine card is not affected when the maintenance cut-off amount passes through each intersection.
The setting of the first time threshold value can obtain a driving route with a smaller total driving duration difference, and the obtaining of maintenance stopping quantity can intuitively show the influence of each optional route on mining area work at the moment, and the maintenance route is selected according to the maintenance stopping quantity, so that the influence on the work of other unmanned mining cards is reduced while the rapid arrival of the driving mining cards is ensured.
[ ninth embodiment ]
Referring to fig. 6, in a specific embodiment, the present invention provides a safe and energy-saving mine management system 100 based on the internet of things, where the management method described in the above embodiment is applied to the mine management system 100, and the mine management system 100 includes: the map module 110, the map module 110 is used for obtaining road information and planning a driving route; the prediction module 120, the prediction module 120 is used for predicting traffic conditions; the calculating module 130, the calculating module 130 is used for calculating the driving duration; the screening module 140, the screening module 140 is configured to screen the driving route to obtain a maintenance route, and the mine management system 100 has all technical features of the above management method, which is not described herein in detail.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Claims (9)
1. The safe energy-saving mine management method based on the Internet of things is characterized by comprising the following steps of:
an ore card dispatching system is established, unmanned ore cards and driving ore cards are arranged in a mine, and the ore card dispatching system dispatches the unmanned ore cards and the driving ore cards according to the working progress of the mine;
Acquiring road information of a mine, marking a road opening according to the road information, and setting a management and control area at each intersection;
acquiring a destination which the unmanned mining card needs to reach, and determining a driving route of the unmanned mining card according to the destination;
after the driving route is determined, calculating the driving time required by the unmanned mining card to reach each intersection according to the optimal driving speed of the unmanned mining card;
when the unmanned mining card arrives at the control area, acquiring the traffic condition of the corresponding intersection of the control area from the mining card dispatching system, and adjusting the optimal running speed according to the traffic condition;
when a fault occurs in the mine, the driving mine card is required to go to the site for processing, and a driving route of the driving mine card is planned according to the fault location;
and calculating the driving time length corresponding to each driving route and the number of the unmanned mine cards on each driving route, screening the driving routes according to the number of the unmanned mine cards and the driving time length to obtain maintenance routes, and adjusting the optimal driving speed by the unmanned mine cards according to the maintenance routes.
2. The internet of things-based safe and energy-saving mine management method according to claim 1, wherein the steps of obtaining road information of a mine, marking a road opening according to the road information, and setting a management and control area at each intersection comprise the following steps:
acquiring the number of roads connected with the intersection, and determining a first control coefficient of the intersection according to the number of roads;
acquiring the road width corresponding to each road, and determining a second control coefficient corresponding to the road according to the road width;
and determining the control distance corresponding to the control region according to the first control coefficient and the second control coefficient.
3. The internet of things-based safe and energy-saving mine management method of claim 2, wherein the acquiring the destination to which the unmanned mine card needs to reach, determining the travel route of the unmanned mine card according to the destination, specifically comprises:
obtaining an optional route of the unmanned mine card to the destination according to the road information;
and acquiring the driving distance and the control distance of each selectable route, and determining the driving route according to the driving distance and the control distance.
4. The internet of things-based safe and energy-saving mine management method according to claim 3, wherein when the unmanned mine card arrives at the control area from the mine card scheduling system, the traffic condition of the intersection corresponding to the control area is obtained, and the optimal running speed is adjusted according to the traffic condition, which specifically includes:
the time node of the unmanned mining card entering the control area is marked as a first node, and the time node of the unmanned mining card reaching the intersection is marked as a second node;
calculating the control time of the unmanned mining card according to the first node and the second node;
marking the unmanned mine cards passing through the intersection in the control time as meeting mine cards, and acquiring a time node of each meeting mine card passing through the intersection to obtain a third node;
and screening the meeting ore cards according to the third node to obtain interference ore cards, and adjusting the optimal running speed according to the interference ore cards.
5. The internet of things-based safe and energy-saving mine management method of claim 4, wherein the screening the meeting mine cards according to the third node to obtain the interference mine cards, and adjusting the optimal running speed according to the interference mine cards specifically comprises:
Obtaining interference nodes according to the time nodes of the interference cards reaching the intersection, and sequencing the interference nodes according to time;
acquiring a safety time interval when the unmanned mine cards sequentially pass through the intersection, and judging whether the second node can be inserted between any two interference nodes according to the safety time interval and the interference nodes;
if yes, calculating an allowable time range corresponding to the second node, calculating a first speed adjustment range according to the allowable time range, and calculating a second speed adjustment range according to the time corresponding to the last interference node;
determining the optimal running speed of the unmanned mining card according to the first speed adjustment range and the second speed adjustment range;
if not, calculating a second speed adjusting range according to the time corresponding to the last interference node;
and adjusting the second node according to the third node and the first node to obtain a correction node, and calculating the adjustment quantity of the optimal running speed according to the time difference value between the correction node and the second node.
6. The internet of things-based safe and energy-saving mine management method of claim 5, wherein the determining the optimal travel speed of the unmanned mining card according to the first speed adjustment range and the second speed adjustment range specifically comprises:
Selecting a speed value closest to the optimal running speed from the first speed adjustment range, and recording the speed value as a first running speed;
selecting a speed value closest to the optimal running speed from the second speed adjustment range, and recording the speed value as a second running speed;
judging whether the unmanned mining card can run at the first running speed, if so, adjusting the optimal running speed to the first running speed;
and if not, adjusting the optimal running speed to the second running speed.
7. The method for managing the safe and energy-saving mine based on the internet of things according to claim 5, wherein the calculating the driving time length corresponding to each driving route and the number of the unmanned mine cards on each driving route, screening the driving route according to the number of the unmanned mine cards and the driving time length to obtain a maintenance route, and the unmanned mine cards adjusting the optimal driving speed according to the maintenance route specifically comprises:
acquiring maintenance running speed of the driving mine card, calculating time nodes corresponding to the road information reaching each intersection along each road under the maintenance running speed, and marking the time nodes as maintenance nodes;
Determining the protection duration of the maintenance node according to the first control coefficient corresponding to the intersection, wherein the unmanned mine card cannot pass through the intersection within the protection duration;
calculating the unmanned mining cards of each driving route which are stopped in the protection duration to obtain maintenance stopping quantity;
and selecting the maintenance route according to the maintenance stopping quantity and the maintenance running speed.
8. The internet of things-based safe and energy-saving mine management method of claim 7, wherein the selecting the maintenance route according to the maintenance stopping amount and the maintenance driving speed specifically comprises:
calculating the time of each driving route reaching the fault point according to the maintenance driving speed, and recording the time as the total driving duration;
screening out the minimum value of the total driving duration and the driving route with the time difference value smaller than a first time threshold value between the minimum value and the minimum value, and recording the driving route as an optional route;
and acquiring the maintenance stopping quantity of each optional route, and selecting the maintenance route from the optional routes according to the maintenance stopping quantity.
9. A safe energy-saving mine management system based on the internet of things, wherein the management method according to any one of claims 1 to 8 is applied to the mine management system, the mine management system comprising:
The map module is used for acquiring the road information and planning the driving route;
the prediction module is used for predicting the traffic condition;
the calculating module is used for calculating the driving duration;
and the screening module is used for screening the driving route to obtain the maintenance route.
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