CN219320678U - Monitoring system for surface mine - Google Patents
Monitoring system for surface mine Download PDFInfo
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- CN219320678U CN219320678U CN202320098189.7U CN202320098189U CN219320678U CN 219320678 U CN219320678 U CN 219320678U CN 202320098189 U CN202320098189 U CN 202320098189U CN 219320678 U CN219320678 U CN 219320678U
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Abstract
The utility model discloses a monitoring system for an open mine, and belongs to the technical field of unmanned operation. The monitoring system includes: the cloud platform is in wireless connection with the mining unmanned vehicle in the surface mine; the operation and maintenance module is respectively and wirelessly connected with the cloud platform and the mining unmanned vehicle; and the monitoring cabin module is respectively connected with the cloud platform and the mining unmanned vehicle in a wireless manner, the monitoring cabin module comprises a monitoring cabin controller, a display module, a flow receiving server and a monitoring emergency stop module for controlling all mining unmanned vehicles in a first selected area in a control area of the monitoring cabin module to be stopped in an emergency manner, the monitoring cabin controller is respectively connected with the cloud platform, the display module, the flow receiving server and the monitoring emergency stop module, and the flow receiving server and the monitoring emergency stop module are connected with all mining unmanned vehicles in the first selected area.
Description
Technical Field
The utility model relates to the technical field of unmanned operation, in particular to a monitoring system for an open mine.
Background
In recent years, unmanned technology is rapidly developed, and surface mines have more excellent unmanned technology landing conditions, such as relatively closed scenes of the surface mines, no people in the scenes, relatively fixed routes, relatively fixed operation modes and the like, so that the surface mines become preferable scenes for unmanned technology landing, and are always seen by the industry.
However, there are a number of difficulties from technical research to engineering landing. For example, firstly, the unmanned system on the ground should be a complete system which can support the practical application of the mine; secondly, the unmanned system should have high reliability and high availability characteristics; again, when an abnormality occurs in the unmanned system, a perfect fault diagnosis and coping mechanism should be provided.
Based on the above considerations, in the development process of the unmanned system, stability, reliability and safety of the system need to be considered; and after the development of the system is completed, a large number of test verification needs to be designed and carried out so as to fully expose the problems existing in the system, thereby being capable of carrying out optimization correction in time.
However, when mining vehicles are run purely unmanned by truly eliminating the safety officer in the course of practicing unmanned techniques, it is inevitable that unknown unsafe factors are encountered. In this case, there is no safety guard on the vehicle, so that a dangerous accident may occur.
It is therefore necessary to provide a monitoring system for surface mines which can still ensure driving safety without a safety guard in unmanned driving.
Disclosure of Invention
In order to solve at least one of the above problems and disadvantages of the prior art, the present utility model provides a monitoring system for a surface mine that can at least partially achieve that running safety can be ensured without a safety agent in unmanned operation. The technical scheme is as follows:
according to one aspect of the utility model, a monitoring system for a surface mine is provided. Wherein, the liquid crystal display device comprises a liquid crystal display device,
the monitoring system includes:
the cloud platform is in wireless connection with the mining unmanned vehicle in the surface mine;
the operation and maintenance module is respectively and wirelessly connected with the cloud platform and the mining unmanned vehicle; and
the monitoring cabin module is respectively and wirelessly connected with the cloud platform and the mining unmanned vehicle, the monitoring cabin module comprises a monitoring cabin controller, a display module, a flow collecting server and a monitoring emergency stop module for controlling all mining unmanned vehicles in a first selected area in a control area of the monitoring cabin module to be emergently stopped, the monitoring cabin controller is respectively connected with the cloud platform, the display module, the flow collecting server and the monitoring emergency stop module, and the flow collecting server and the monitoring emergency stop module are respectively connected with all mining unmanned vehicles in the first selected area.
Specifically, the monitoring cabin module further comprises a plug flow module which is matched with the collecting server, the plug flow module is respectively arranged on all mining unmanned vehicles in the first selected area, the mining unmanned vehicles in the first selected area are provided with monitoring cameras,
on the same mining unmanned vehicle, the plug flow module is connected with the monitoring camera, and data collected by the monitoring camera are transmitted to the collecting server through the plug flow module.
Further, the current collecting server is connected with the display module, the cloud platform sends the unique identification of the monitoring cabin module to all mining unmanned vehicles in the first selected area, and all mining unmanned vehicles in the first selected area are in wireless connection with the corresponding monitoring cabin module based on the unique identification and transmit data.
Specifically, the monitoring emergency stop module sends an emergency stop instruction to the monitoring cabin controller based on the data from the flow pushing module displayed by the display module, then the monitoring cabin controller sends the emergency stop instruction to the flow pushing module through the flow receiving server, and then the flow pushing module sends the emergency stop instruction to the unmanned control unit of the unmanned mining vehicle.
Further, the monitoring cabin controller and the operation and maintenance module both receive early warning data from the cloud platform.
Specifically, the operation and maintenance module includes operation and maintenance control module, is used for controlling the operation and maintenance scram module of mining unmanned vehicles emergency stop, be used for controlling the operation and maintenance stopping module of mining unmanned vehicles temporary stop and be used for controlling the operation and maintenance starting module that mining unmanned vehicles starts, operation and maintenance control module with cloud platform with mining unmanned vehicles wireless connection, operation and maintenance scram module, operation and maintenance stopping module and operation and maintenance starting module all with operation and maintenance control module with mining unmanned vehicles connects.
Specifically, the operation and maintenance scram module sends the scram instruction to all mining unmanned vehicles in a second selected area within a control area of the operation and maintenance module,
the operation and maintenance stopping module sends a stopping instruction to the selected mining unmanned vehicle,
and the operation and maintenance starting module sends a starting instruction to the selected mining unmanned vehicle.
Specifically, the monitoring system further comprises a remote control module wirelessly connected with the mining unmanned vehicle, wherein the remote control module comprises a remote control emergency stop module for controlling all the mining unmanned vehicles in a third selected area in a control area of the remote control module to be stopped in an emergency, a remote control stop module for controlling the corresponding mining unmanned vehicles in the third selected area to be stopped temporarily, and a remote control starting module for controlling the corresponding mining unmanned vehicles in the third selected area to be started.
In particular, the remote emergency stop module transmits the emergency stop command to all mining unmanned vehicles in the third selected area,
the remote control stopping module sends the stopping instruction to the corresponding mining unmanned vehicle in the third selected area,
the remote control starting module sends the starting instruction to the corresponding mining unmanned vehicle in the third selected area,
the remote control module is matched with the mining unmanned vehicle through a unique identifier.
Preferably, the priority of the instruction is set to the scram instruction, the stop instruction, and the start instruction in order from high to low,
when the mining unmanned vehicle temporarily stopped based on the stop instruction is started, the operation and maintenance starting module sends a starting instruction to the mining unmanned vehicle temporarily stopped through the operation and maintenance control module, and the mining unmanned vehicle temporarily stopped starts the vehicle based on the starting instruction after restarting a task, or
The remote control starting module sends a starting instruction to the temporarily stopped mining unmanned vehicle, and the temporarily stopped mining unmanned vehicle starts the vehicle based on the starting instruction after restarting the task.
Preferably, the unmanned control unit of the selected mining unmanned vehicle in the first selected area, the unmanned control unit of the selected mining unmanned vehicle in the second selected area or the unmanned control units of all mining unmanned vehicles in the third selected area send a power-down stop instruction to the own drive-by-wire system based on the scram instruction.
The monitoring system for an open pit mine according to an embodiment of the present utility model has at least one of the following advantages:
(1) The monitoring system for the surface mine provided by the utility model realizes multi-channel and multi-mechanism monitoring of the unmanned vehicle for the mine through the design of the operation and maintenance module, the monitoring cabin module and the remote control module, thereby ensuring the safety of the unmanned vehicle for the mine to the maximum extent;
(2) According to the monitoring system for the surface mine, provided by the utility model, the mine unmanned vehicle can be stopped in time when abnormal conditions occur through multi-channel monitoring of the cloud end, the cabin end and the ground end, so that the mine unmanned vehicle is ensured not to be dangerous;
(3) According to the monitoring system for the surface mine, provided by the utility model, the scram instruction and the stop instruction with different priorities are designed according to the dangerous level of the unmanned vehicle for the mine, so that the unmanned vehicle for the mine can be stopped in time no matter which module among the operation and maintenance module, the monitoring cabin module and the remote control module finds the abnormal condition when the unmanned vehicle for the mine has the abnormal condition, and the running safety of the unmanned vehicle for the mine is ensured;
(4) According to the mining unmanned vehicle in the monitoring system for the surface mine, due to different response instructions, two different starting modes are designed to start the vehicle, one is that the mining unmanned vehicle is started efficiently and quickly through the starting instructions after the temporary stopping condition is relieved, and the other is that the mining unmanned vehicle is further started through manual inspection and a re-electrifying mode after the emergency stopping condition is relieved, and the driving safety of the mining unmanned vehicle is further ensured through the two different starting modes;
(5) The monitoring system for the surface mine provided by the utility model is developed from one-to-one monitoring to one-to-many monitoring to one-to-all mine monitoring, and finally, unmanned landing of the whole surface mine can be realized.
Drawings
These and/or other aspects and advantages of the present utility model will become apparent and readily appreciated from the following description of the preferred embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a monitoring system for a surface mine according to one embodiment of the utility model;
fig. 2 is a schematic diagram of the operation and maintenance module shown in fig. 1.
Fig. 3 is a schematic diagram of the operation of the monitoring system shown in fig. 1.
Detailed Description
The technical scheme of the utility model is further specifically described below through examples and with reference to the accompanying drawings. In the specification, the same or similar reference numerals denote the same or similar components. The following description of embodiments of the present utility model with reference to the accompanying drawings is intended to illustrate the general inventive concept and should not be taken as limiting the utility model.
Referring to fig. 1, a monitoring system 100 for a surface mine is shown in accordance with one embodiment of the present utility model. The monitoring system 100 includes a cloud platform 10, a monitoring cabin module 20, and an operation and maintenance module 30. The cloud platform 10 is wirelessly connected with a mine unmanned vehicle 40 in an open mine, the monitoring cabin module 20 is wirelessly connected with the cloud platform 10 and the mine unmanned vehicle 40 respectively, and the operation and maintenance module 30 is wirelessly connected with the cloud platform 10 and the mine unmanned vehicle 40 respectively. Wherein the monitoring cabin module 20 comprises a monitoring cabin controller 21, a display module 22, a throttle server 23 and a monitoring scram module 24 for controlling the emergency stop of all mining unmanned vehicles 40 in a first selected area within the control area of the monitoring cabin module. The monitoring cabin controller 21 is respectively connected with the cloud platform 10, the display module 22, the flow receiving server 23 and the monitoring scram module 24, the flow receiving server 23 is connected with all mining unmanned vehicles 40 in the first selected area, and the monitoring scram module 24 is connected with all mining unmanned vehicles 40 in the first selected area.
In one example, the monitoring cabin module 20, the operation and maintenance module 30 and the mining unmanned vehicle 40 are all actively linked to the cloud platform 10 through a TCP protocol, and the cloud platform 10 relays general messages to realize message interaction between devices.
In one example, the first selected area of the monitoring module 20 may be the entire control area or some portion of the control area. The extent of the first selected area can be designed by a person skilled in the art according to the actual need. The control area may be understood as monitoring the wireless signal coverage of the pod module 20.
In one embodiment, the cloud platform 10 is a core component of the overall monitoring system 100, which is an overall strip mine management system, running in a server of a strip mine dispatch center. Cloud deck 10 monitors the status of all mining vehicles in the entire surface mine area, and the real-time status of each mining vehicle can be checked on cloud deck 10.
In one example, a mining unmanned vehicle 40 includes a surveillance camera 41, an unmanned control unit 42, a vehicle control unit 43, and a drive-by-wire system 44. The drive-by-wire system 44 includes a steer-by-wire system (not shown), a brake-by-wire system (not shown), and a power-by-wire system (not shown). In normal operation, the unmanned control unit 42 receives the operation task sent by the cloud platform 10 through the wireless network, performs unmanned sensing, positioning, planning, decision making and calculation of a control algorithm to generate a control instruction, then sends the control instruction to the vehicle control unit 43, the vehicle control unit 43 converts the control instruction into a drive-by-wire instruction and then sends the drive-by-wire instruction to the drive-by-wire system 44, and meanwhile the vehicle control unit 43 receives state data from the drive-by-wire system 44 and sends the received state data to the cloud platform 10 through the unmanned control unit 42.
In one example, the emergency stop instruction for the emergency stop vehicle, the stop instruction for the temporary stop of the vehicle, and the start instruction for the start of the vehicle are set to different priorities in the unmanned control unit 42, with the priorities being the emergency stop instruction, the stop instruction, and the start instruction in this order from high to low. The unmanned control unit 42 transmits a command of high priority to the drive-by-wire system 44, and when at least two of a scram command, a stop command, and a start command transmitted by different devices (for example, one device transmits the scram command, and the other device transmits the stop command) are simultaneously received, the unmanned control unit 42 processes the command of highest priority (for example, the scram command) and reloads at least the task after the interrupt event is released, while the command of low priority is released without continuing execution due to the reload of the task.
As shown in fig. 1, a platform scram module 11 and a platform park module 12 are designed on a cloud platform 10. In one example, the platform scram module 11 and the platform park module 12 are software buttons on a software interface.
When the cloud platform 10 monitors mining vehicles (e.g., mining unmanned vehicles) in the entire surface mine area for an emergency stop event or a dangerous event (e.g., mining unmanned vehicles have a fatal fault, are too close to a front vehicle, and are about to generate a rear-end collision event), an emergency stop instruction can be sent to all mining unmanned vehicles 40 in the entire surface mine through the platform emergency stop module 11, and the unmanned control units 42 of all mining unmanned vehicles 40 receive the emergency stop instruction through a wireless network, then directly convert the emergency stop instruction into a drive-by-wire instruction and send the drive-by-wire instruction to the drive-by-wire system 44, or after converting the emergency stop instruction into the drive-by-wire instruction through the drive-by-wire unit 43, the drive-by-wire system 44 stops the vehicles and powers down based on the emergency stop instruction so as to realize the emergency stop of all mining unmanned vehicles 40 in the entire surface mine. After the emergency is relieved, the working personnel control the mining unmanned vehicle 40 to power on to restart the system and apply tasks to the cloud platform 10 through the human-machine interaction module 45 (for example, HMI) to reload the tasks, and continue to run after the tasks are ready to resume normal operation, wherein the mining unmanned vehicle 40 is in an unmanned state during the running process. The safety of the mining unmanned vehicle of the whole surface mine is ensured through the design.
When cloud platform 10 monitors mining vehicles (e.g., mining unmanned vehicles) in the entire open-pit mining area for a temporary stop event or for a manual intervention event (e.g., a congestion event, a need to wait for queuing, a proximity to a lead vehicle, entry into a forbidden zone), one or more mining unmanned vehicles 40 that have the temporary stop event may be selected and a stop command may be sent thereto via platform stop module 12, which is received by unmanned control unit 42 of the selected mining unmanned vehicle 40 via the wireless network, and then either directly converted to a drive-by-wire command to drive-by-wire system 44, or after converted to a drive-by-wire command via control unit 43, the drive-by-wire system 44 then stops the vehicle based on the stop command to enable temporary parking and no powering down of the selected mining unmanned vehicle 40.
In one example, a worker may select a mine unmanned vehicle 40 that may be started in a dispatch management page of the cloud platform 10 after a temporary stop event or a need for a manual intervention event is released, then send a start instruction to the selected mine unmanned vehicle 40 through, for example, a start button in the cloud platform 10, then the worker applies a task to the cloud platform 10 through the human-machine interaction module 45, and the mine unmanned vehicle 40 automatically starts to run after the task is ready.
In one example, cloud platform 10 collects real-time locations of each mining unmanned vehicle 40 and sets some electronic fences as a keep-out area, generating early warning data when mining unmanned vehicle 40 is too close to surrounding vehicles or enters the keep-out area. Because of the time delay of the cloud platform data, the early warning data are provided as prompts to the staff, and finally the staff decides based on the actual situation of the mining unmanned vehicle 40. The monitoring cabin controller 21 and the operation and maintenance module 30 in the monitoring cabin module 20 each receive early warning data from the cloud platform 10.
In one embodiment, the monitoring cabin module 20 further includes a plug-in module 25, where the plug-in module 25 is matched with the sink server 23 to plug in the data collected by the monitoring camera 41. The data includes analog data, which may be continuous values such as sound, graphics, images, video, and digital data; the digital data may be discrete values within a certain interval, such as symbols, text.
In one example, the plug flow module 25 is mounted on all mining unmanned vehicles 40 in a first selected area (not shown). The plug flow module 25 of the same mining unmanned vehicle is connected with the monitoring camera 41 on the vehicle. The monitoring camera 41 collects images right in front of the mining unmanned vehicle 40 and pushes the collected video stream to the corresponding receiving server 23 through the pushing module 25. The unmanned control unit 42 communicates with the push flow module (e.g., push flow controller) 25 via an internal switch (not shown), and can implement control of push flow and transmission of control instructions.
In one example, the data collected by the monitoring camera 41 is transmitted to the streaming server 23 through the push module 25. The cloud platform 10 transmits the unique identification of the monitoring capsule module 20 (e.g., the IP address of the monitoring capsule module) to all of the mining unmanned vehicles 40 in the first selected area, and all of the mining unmanned vehicles 40 in the first selected area wirelessly connect with the corresponding monitoring capsule module 10 and transmit data based on the unique identification.
In one example, the receiving server 23 is connected to the display module 22, and the staff member in the first selected area decides whether to send the scram instruction based on the data from the pushing module 25 displayed by the display module 22. When it is determined that an emergency stop event has occurred, the operator sends an emergency stop command to the mining unmanned vehicle 40 by monitoring the emergency stop module 24: the first monitoring scram module 24 sends a scram instruction to the monitoring cabin controller 21, then the monitoring cabin controller 21 sends the scram instruction to the plug flow module 25 through the flow receiving server 23, and then the plug flow module 25 sends the scram instruction to the unmanned control unit 42 of the unmanned mining vehicle 40. The unmanned unit 42 controls the vehicle emergency stop through the vehicle control unit 43 and the drive-by-wire system 44 based on the emergency stop instruction. When the emergency stop event is released, the worker controls the mining unmanned vehicle 40 to power on to restart the system and applies tasks to the cloud platform 10 through the human-computer interaction module 45 to reload the tasks, and the operation is continued after the tasks are ready. The safety of the mining unmanned vehicle of the whole surface mine is further ensured through the design.
In one example, the monitoring cabin module 20 is an important component of the monitoring system 100, and after the mining unmanned vehicle 40 enters an unmanned state, the video stream can be pushed to the monitoring cabin module 20 in real time, and the monitoring cabin controller 21 acquires the video stream through the current collecting server 23 and displays the video on the display module 22, where the video is a video of the front of the mine car. The operator may monitor the operating status of the mining unmanned vehicle 40 in the control area in real time in front of a display module (e.g., display) in a monitoring cabin module (e.g., a monitoring cabin).
In one example, the monitor scram module 24 is a scram physical button that is actuated to park the mining unmanned vehicle 40 when a worker finds, via video, that a hazard is imminent.
In one example, one-to-one video monitoring may be employed at an early stage of unmanned operation to secure mining unmanned vehicle 40 in a control area; when the monitoring system 100 is mature gradually, one-to-many video monitoring can be adopted, video of a plurality of mining unmanned vehicles 40 is pushed to a monitoring cabin module, and one worker monitors the plurality of mining unmanned vehicles 40; as the monitoring system 100 further matures, one monitoring module 20 can monitor all mine unmanned vehicles 40 for the entire surface mine.
In one example, the maturity of the monitoring system 100 is primarily assessed by the number of human active interventions per unit of time, typically, the operator will actively intervene in control when it is determined that the mining unmanned vehicle 40 is at risk. For example, if the number of human active interventions is less than one in 1 month, then it may be determined that the monitoring pod 20 may perform one-to-many monitoring.
As shown in fig. 2, the operation and maintenance module 30 includes an operation and maintenance control module 31, an operation and maintenance scram module 32, an operation and maintenance stop module 33, and an operation and maintenance start module 34. The operation and maintenance emergency stop module 32 is used for controlling the mine unmanned vehicle 40 to stop emergently, the operation and maintenance stop module 33 is used for controlling the mine unmanned vehicle 40 to stop temporarily, and the operation and maintenance starting module 34 is used for controlling the mine unmanned vehicle 40 to start. The operation and maintenance control module 31 is respectively and wirelessly connected with the cloud platform 10 and the mining unmanned vehicle 40, and the operation and maintenance scram module 32, the operation and maintenance stop module 33 and the operation and maintenance start module 34 are respectively connected with the operation and maintenance control module 31 and the mining unmanned vehicle 40.
In one example, the operation and maintenance module 30 is a portable computer, such as a tablet (PAD), used by a worker (e.g., a dispatcher) at a job site. The operation and maintenance module 30 is connected with the cloud platform 10 through a wireless network, and can acquire the state information of each mining unmanned vehicle 40 in real time, so that a worker can check the real-time state of each vehicle through the operation and maintenance module 30 at any time.
In one example, the operation and maintenance scram module 32, the operation and maintenance stop module 33, and the operation and maintenance start module 34 are 3 software buttons designed. In use, a worker may select a mine unmanned vehicle 40 in a surface mine (e.g., within a control area of the operation and maintenance module 30) via an interface of the operation and maintenance module 30, and control the start and stop of the mine unmanned vehicle.
That is, a worker may send a scram instruction to all of the mine unmanned vehicles 40 in a second selected area (e.g., an area a distance from PAD) within the control area of the operation and maintenance module 30 via the operation and maintenance scram module 32, may select a mine unmanned vehicle 40 in the second selected area in the interface, may then send a stop instruction to the selected mine unmanned vehicle 40 via the operation and maintenance stop module 33, and may also send a start instruction to the selected mine unmanned vehicle 40 via the operation and maintenance start module 34.
In one example, when operation and maintenance module 30 monitors mining unmanned vehicles in the second selected area for an emergency stop event or a dangerous event, an emergency stop instruction of operation and maintenance module 30 is sent to all mining unmanned vehicles 40 in the second selected area through cloud platform 10. For example, the unique identifier of the operation and maintenance module 30 is set in the signal carrying the emergency stop command, the cloud platform 10 broadcasts the emergency stop command, and all mine unmanned vehicles 40 in the surface mine search the signal, and when the unmanned control unit 42 determines that the unique identifier in the signal matches the unique identifier in the memory, the emergency stop signal is converted into a drive-by-wire command and sent to the drive-by-wire system 44, so as to emergently stop all mine unmanned vehicles 40 in the second selected area and power down all mine unmanned vehicles 40.
After the emergency or dangerous event is relieved, the working personnel control the mine unmanned vehicle 40 to power on to restart the system and apply tasks to the cloud platform 10 through the human-computer interaction module 45 (e.g., HMI) to reload the tasks, and continue to run after the tasks are ready to resume normal operation, and the mine unmanned vehicle 40 is in an unmanned state during the running process, so that the safety of all the mine unmanned vehicles 40 in the second selected area is ensured again through the design.
In one example, the stop command and the start command are sent through the cloud platform 10 to the selected mining unmanned vehicle 40 in the second selected area. For example, the unique identifier of the selected mining unmanned vehicle 40 (and the unique identifier of the operation and maintenance module 30) is set in the signal carrying the stop instruction or the start instruction, then the cloud platform 10 broadcasts an instruction carrying the unique identifier of the mining unmanned vehicle 40 (and the unique identifier of the operation and maintenance module 30), then the selected unmanned vehicle 40 determines that the signal is targeted to itself based on the unique identifier of the mining unmanned vehicle (and the unique identifier of the operation and maintenance module 30), and then the mining unmanned vehicle 40 converts the stop instruction or the start instruction into a drive-by-wire instruction to be transmitted to the drive-by-wire system 44.
In one example, the stop command is a temporary stop event or a manual intervention event (e.g., a congestion event, a need to wait for queuing, a proximity to a lead vehicle, entry into a disabled area) that operation and maintenance module 30 monitors for a certain mining unmanned vehicle 40 in the second selected area, and a worker may select one or more mining unmanned vehicles 40 via an interface of operation and maintenance module 30 and send a stop command thereto to temporarily stop the selected mining unmanned vehicle 40 and not power down.
After the temporary stopping event or the event requiring the manual intervention is released, a worker applies a task to the cloud platform 10 through a human-machine interaction module 45 (e.g., HMI) of the mining unmanned vehicle 40 to reload the task, and continues to run after the task is ready to resume normal operation, wherein the mining unmanned vehicle 40 is in an unmanned state during the running process.
In one example, a worker may send a start command to a selected mining unmanned vehicle 40 through the operation and maintenance start module 34 after a temporary stop event or a need for a manual intervention event is resolved, after which the worker applies for a task to the cloud platform 10 through the human-machine interaction module 45, and the mining unmanned vehicle 40 automatically starts to run after the task is ready.
In one example, the worker may also apply for a task to the cloud platform 10 through the man-machine interaction module 45 of the mining unmanned vehicle 40 after a temporary stop event or a manual intervention event is required to be released, and send a start command to the mining unmanned vehicle 40 through the operation and maintenance start module 34 after the task is ready to resume its normal operation.
In one example, the second selected area may be the entire control area of the operation and maintenance module 30, and may also be set as a portion within the control area. The control area may be understood as the signal (e.g., effective signal) coverage of the operation and maintenance module 30, or the signal coverage of the operation and maintenance module 30 may belong to the monitoring area of the worker. The person skilled in the art can design the range of the second selected area according to the actual need.
In one embodiment, the monitoring system 100 further includes a remote control module 50 that is wirelessly connected to the mining unmanned vehicle 40. The remote control module 50 includes a remote control emergency stop module 51, a remote control stop module 52, and a remote control start module 53. The remote control emergency stop module 51 is used for controlling all the mining unmanned vehicles 40 in the third selected area in the control area of the remote control module 50 to be in emergency stop and powered down, the remote control stop module 52 is used for controlling the corresponding mining unmanned vehicles 40 in the third selected area to be temporarily stopped, and the remote control starting module 53 is used for controlling the corresponding mining unmanned vehicles 40 in the third selected area to be started.
In one example, the remote control module 50 (e.g., a short range remote control) is provided for use by personnel securing the ground side of the surface mine, can communicate with the vehicle control unit of the unmanned mine car over a wireless network, and each mining unmanned vehicle 40 in the surface mine is provided with one remote control module 50 (e.g., a short range remote control).
In one example, the remote control module 50 (e.g., a short range remote control) transmits data in the form of a broadcast, does not need to be physically paired with the mining unmanned vehicle 40, but rather is matched by an ID in an application layer protocol, so long as the mining unmanned vehicle 40 is within the signal coverage range (e.g., around 1 km square) of the remote control module 50, a message from the remote control module 50 can be received, and then a determination can be made as to whether there is a match by the ID in the message.
In one example, the remote control module 50 is provided with a wireless transmission module (not shown) connected to the remote control emergency stop module 51, the remote control stop module 52, and the remote control start module 53, respectively, to broadcast their corresponding instructions. Accordingly, a wireless receiving module (not shown) matched with the corresponding wireless transmitting module is designed in the vehicle control unit 43 of the mining unmanned vehicle 40 so as to receive the control command sent by the remote control module 50. The mining unmanned vehicle 40 transmits its own state information to the cloud platform 10, whereby the cloud platform 10 can obtain an operation required for the remote control module 50, thereby being able to monitor an instruction of the remote control module 50.
In one example, the remote control emergency stop module 51, the remote control stop module 52, and the remote control start module 53 are 3 physical buttons, and the remote control stop module 52 and the remote control start module 53 can control the operation and stop of the host vehicle. The remote emergency stop module 51 can control all mining unmanned vehicles 40 within a certain distance from the remote control module 50 to stop and power down.
In one example, a worker sends a scram command to all mining unmanned vehicles 40 in the third selected area via remote scram module 51, a worker sends a stop command to the corresponding mining unmanned vehicles 40 in the third selected area via remote stop module 52, and a worker sends a start command to the corresponding mining unmanned vehicles 40 in the third selected area via remote start module 53.
In one example, when the operator monitors the mining unmanned vehicles 40 in the third selected area for an emergency stop event or a dangerous event, the emergency stop instructions of the remote control module 50 are broadcast to all of the mining unmanned vehicles 40 in the third selected area. After the wireless receiving module of the vehicle control unit 43 receives the emergency stop command, the emergency stop command is converted into a drive-by-wire command and sent to the drive-by-wire system 44, so as to emergently stop and power down all mining unmanned vehicles 40 in the third selected area.
After the emergency or dangerous event is relieved, the working personnel control the mine unmanned vehicle 40 to power on to restart the system and apply tasks to the cloud platform 10 through the human-computer interaction module 45 (e.g., HMI) to reload the tasks, and the mine unmanned vehicle 40 is in an unmanned state in the operation process after the tasks are ready to continue to operate so as to restore normal operation, and through the design, the safety of all the mine unmanned vehicles 40 in the third selected area is further ensured.
In one example, when a worker monitors that a temporary stop event or a manual intervention event is required (e.g., a congestion event, a need to wait for a queue, a need to be in proximity to a lead vehicle, a need to enter a disabled area) occurs with a mining unmanned vehicle 40 in a third selected area, the worker may broadcast a stop command via the remote control module 50 to send the stop command to the mining unmanned vehicle 40 that matches it, after which the wireless receiving module of the mining unmanned vehicle 40 receives the stop command, the stop command is converted to a drive-by-wire command by the control unit 43 and sent to the drive-by-wire system 44 to temporarily stop the mining unmanned vehicle 40 and not power down.
After the temporary stopping event or the event requiring the manual intervention is released, a worker applies a task to the cloud platform 10 through a human-machine interaction module 45 (e.g., HMI) of the mining unmanned vehicle 40 to reload the task, and continues to run after the task is ready to resume normal operation, wherein the mining unmanned vehicle 40 is in an unmanned state during the running process.
In one example, a worker may send a start command to a selected mining unmanned vehicle 40 through the remote start module 53 after a temporary stop event or a need for manual intervention event is resolved, after which the worker applies a task to the cloud platform 10 through the human-machine interaction module 45, and the mining unmanned vehicle 40 automatically begins to operate after the task is ready.
In one example, the worker may also apply for a task to the cloud platform 10 through the man-machine interaction module 45 of the mining unmanned vehicle 40 after the temporary stop event or the event requiring manual intervention is released, and send a start command to the mining unmanned vehicle 40 through the remote start module 53 after the task is ready to resume its normal operation.
The workflow of the monitoring system 100 is described in detail below in conjunction with fig. 1-3 to further illustrate the principles of operation of the monitoring system 100 and thus the structure of the monitoring system 100.
As shown in fig. 3, the working process of the monitoring system 100 is divided into several important processes, such as unmanned driving process, video push flow process, cloud platform scram process, monitoring cabin module scram process, operation and maintenance module scram process, remote control module scram process, and the like.
When the mining unmanned vehicle 40 (hereinafter referred to as "mine car") is started, the mine car is connected to the cloud platform 10 through the wireless network, and the state of the mine car is changed to the ready state. The cloud deck 10 then registers the mine car and gives the mine car a down-mining mission based on the overall status of the entire open-pit mine. After the mine car receives the operation task, the mine car enters an operation state, namely an unmanned state, according to the operation task.
In an unmanned state, the cloud platform 10 can send a real-time control command to the mine car, the mine car also uploads own state information to the cloud platform 10 in real time, and a worker in a dispatching center can check the real-time state information of each mine car. Similarly, the monitoring module 20 is arranged in a dispatching center, and when the monitoring module 20 is started, the monitoring module is connected to the cloud platform 10 through an internal network (for example, a 4G/5G network or WiFi) to finish registration on the cloud platform 10, and the state of the monitoring module 20 is changed into a ready state, so that video plug flow of a mine car can be received at any time.
The video plug flow process is initiated by the cloud platform 10. When real-time video monitoring of the mine car is required, the cloud platform 10 pairs the mine car with the monitoring cabin module 20 via the configuration page (e.g., the cloud platform 10 sends the IP address of the monitoring cabin module to all mine cars) and sends a push command to the mine car. After receiving the push command, the mine car pushes the video stream to the streaming server 23 through the push module 25, and then displays the real-time video on the display module 22.
The cloud platform scram process is a scram operation initiated by the cloud platform 10. The staff of the dispatch center can look over the real-time status information of each mine car, including: the position, speed, gear, headstock orientation, working state and the like of the mine car. The worker may stop the selected mine car via the platform stop module of the cloud platform 10. When the danger of the mine car is judged according to the state information of the mine car, the mine car of the whole mine can be stopped completely through the platform scram module.
The emergency stop flow of the monitoring cabin is initiated by a safety officer in the monitoring cabin, the safety officer monitors the video of the plug flow of the mine car in real time, and when the mine car is judged to be dangerous through the video, the safety officer beats the monitoring emergency stop module of the monitoring cabin module 20, and an emergency stop command is sent to the mine car through a plug flow channel, so that the mine car is stopped in an emergency and powered off.
The operation and maintenance module flow is used by a dispatcher on an operation site, and the operation state of each mine car can be checked through the operation and maintenance module 30, and the condition of each mine car can be observed through naked eyes. The operation and stopping of the selected mine car can be controlled by the operation starting module 34 and the operation stopping module 33 on the operation module 30. When a dispatcher finds a dangerous situation, the operation and maintenance scram module 32 on the operation and maintenance module 30 is pressed, and the scram command is uploaded to the cloud platform 10 and then issued to a mine car in a certain range near the operation and maintenance module 30, so that the mine car is stopped and powered down.
The remote control module 50 is another safety guarantee for the mine car, and the emergency stop process of the remote control module is initiated by on-site workers. The remote control module 50 communicates with the car control unit of the mine car using a dedicated wireless link, and when the start or stop button of the remote control is pressed, the corresponding mine car can be controlled to run or stop. When a worker finds a mine car in danger, he presses the scram button and sends a command to the mine cars in a range around the remote control module 50 to cause the mine cars to be parked and powered down.
The monitoring system for an open pit mine according to an embodiment of the present utility model has at least one of the following advantages:
(1) The monitoring system for the surface mine provided by the utility model realizes multi-channel and multi-mechanism monitoring of the unmanned vehicle for the mine through the design of the operation and maintenance module, the monitoring cabin module and the remote control module, thereby ensuring the safety of the unmanned vehicle for the mine to the maximum extent;
(2) According to the monitoring system for the surface mine, provided by the utility model, the mine unmanned vehicle can be stopped in time when abnormal conditions occur through multi-channel monitoring of the cloud end, the cabin end and the ground end, so that the mine unmanned vehicle is ensured not to be dangerous;
(3) According to the monitoring system for the surface mine, provided by the utility model, the scram instruction and the stop instruction with different priorities are designed according to the dangerous level of the unmanned vehicle for the mine, so that the unmanned vehicle for the mine can be stopped in time no matter which module among the operation and maintenance module, the monitoring cabin module and the remote control module finds the abnormal condition when the unmanned vehicle for the mine has the abnormal condition, and the running safety of the unmanned vehicle for the mine is ensured;
(4) According to the mining unmanned vehicle in the monitoring system for the surface mine, due to different response instructions, two different starting modes are designed to start the vehicle, one is that the mining unmanned vehicle is started efficiently and quickly through the starting instructions after the temporary stopping condition is relieved, and the other is that the mining unmanned vehicle is further started through manual inspection and a re-electrifying mode after the emergency stopping condition is relieved, and the driving safety of the mining unmanned vehicle is further ensured through the two different starting modes;
(5) The monitoring system for the surface mine provided by the utility model is developed from one-to-one monitoring to one-to-many monitoring to one-to-all mine monitoring, and finally, unmanned landing of the whole surface mine can be realized.
Although a few embodiments of the present general inventive concept have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the general inventive concept, the scope of which is defined in the claims and their equivalents.
Claims (11)
1. A monitoring system for an open pit mine, characterized in that,
the monitoring system includes:
the cloud platform is in wireless connection with the mining unmanned vehicle in the surface mine;
the operation and maintenance module is respectively and wirelessly connected with the cloud platform and the mining unmanned vehicle; and
the monitoring cabin module is respectively and wirelessly connected with the cloud platform and the mining unmanned vehicle, the monitoring cabin module comprises a monitoring cabin controller, a display module, a flow collecting server and a monitoring emergency stop module for controlling all mining unmanned vehicles in a first selected area in a control area of the monitoring cabin module to be emergently stopped, the monitoring cabin controller is respectively connected with the cloud platform, the display module, the flow collecting server and the monitoring emergency stop module, and the flow collecting server and the monitoring emergency stop module are respectively connected with all mining unmanned vehicles in the first selected area.
2. A monitoring system for a surface mine as set forth in claim 1, wherein,
the monitoring cabin module further comprises a plug flow module which is matched with the collecting server, the plug flow module is respectively arranged on all mining unmanned vehicles in the first selected area, the mining unmanned vehicles in the first selected area are provided with monitoring cameras,
on the same mining unmanned vehicle, the plug flow module is connected with the monitoring camera, and data collected by the monitoring camera are transmitted to the collecting server through the plug flow module.
3. A monitoring system for a surface mine as set forth in claim 2, wherein,
the collecting server is connected with the display module, the cloud platform sends the unique identification of the monitoring cabin module to all mining unmanned vehicles in the first selected area, and all mining unmanned vehicles in the first selected area are in wireless connection with the corresponding monitoring cabin module based on the unique identification and transmit data.
4. A monitoring system for a surface mine as set forth in claim 2, wherein,
The monitoring emergency stop module sends an emergency stop instruction to the monitoring cabin controller based on the data from the flow pushing module, which is displayed by the display module, and then the monitoring cabin controller sends the emergency stop instruction to the flow pushing module through the flow collecting server, and then the flow pushing module sends the emergency stop instruction to the unmanned control unit of the unmanned mining vehicle.
5. A monitoring system for a surface mine as set forth in claim 4, wherein,
and the monitoring cabin controller and the operation and maintenance module both receive early warning data from the cloud platform.
6. A monitoring system for a surface mine as set forth in claim 4 or 5, wherein,
the operation and maintenance module comprises an operation and maintenance control module, an operation and maintenance emergency stop module for controlling the mine unmanned vehicle to stop emergently, an operation and maintenance stop module for controlling the mine unmanned vehicle to stop temporarily and an operation and maintenance starting module for controlling the mine unmanned vehicle to start, wherein the operation and maintenance control module is in wireless connection with the cloud platform and the mine unmanned vehicle, and the operation and maintenance emergency stop module, the operation and maintenance stop module and the operation and maintenance starting module are connected with the operation and maintenance control module and the mine unmanned vehicle.
7. A monitoring system for a surface mine as set forth in claim 6, wherein,
the operation and maintenance scram module transmits the scram instruction to all mining unmanned vehicles in a second selected area within a control area of the operation and maintenance module,
the operation and maintenance stopping module sends a stopping instruction to the selected mining unmanned vehicle in the second selected area,
and the operation and maintenance starting module sends a starting instruction to the selected mining unmanned vehicle in the second selected area.
8. A monitoring system for a surface mine as set forth in claim 7, wherein,
the monitoring system further comprises a remote control module in wireless connection with the mine unmanned vehicle, wherein the remote control module comprises a remote control emergency stop module for controlling all mine unmanned vehicles in a third selected area in a control area of the remote control module to be stopped in an emergency, a remote control stop module for controlling corresponding mine unmanned vehicles in the third selected area to be stopped temporarily, and a remote control starting module for controlling corresponding mine unmanned vehicles in the third selected area to be started.
9. The monitoring system for a surface mine of claim 8,
The remote emergency stop module transmits the emergency stop command to all mining unmanned vehicles in the third selected area,
the remote control stopping module sends the stopping instruction to the corresponding mining unmanned vehicle in the third selected area,
the remote control starting module sends the starting instruction to the corresponding mining unmanned vehicle in the third selected area,
the remote control module is matched with the mining unmanned vehicle through a unique identifier.
10. The monitoring system for a surface mine of claim 9,
the priority of the instruction is set to the scram instruction, the stop instruction and the start instruction in turn from high to low,
when the mining unmanned vehicle temporarily stopped based on the stop instruction is started, the operation and maintenance starting module sends a starting instruction to the mining unmanned vehicle temporarily stopped through the operation and maintenance control module, and the mining unmanned vehicle temporarily stopped starts the vehicle based on the starting instruction after restarting a task, or
The remote control starting module sends a starting instruction to the temporarily stopped mining unmanned vehicle, and the temporarily stopped mining unmanned vehicle starts the vehicle based on the starting instruction after restarting the task.
11. The monitoring system for a surface mine of claim 10, wherein the monitoring system,
the unmanned control unit of the selected mining unmanned vehicle in the first selected area, the unmanned control units of all mining unmanned vehicles in the second selected area or the unmanned control units of all mining unmanned vehicles in the third selected area send a power-down stop instruction to a drive-by-wire system of the unmanned control unit based on the scram instruction.
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