CN-115620505-B - Mine traffic control system and instruction fusion method

CN115620505BCN 115620505 BCN115620505 BCN 115620505BCN-115620505-B

Abstract

The invention discloses a mine traffic control system and an instruction fusion method, and belongs to the field of scheduling control of engineering machinery. The system comprises a control center server and autonomous traveling vehicles, wherein a video monitoring device is arranged in a mining area, the autonomous traveling vehicles detect vehicle state information and transmit the vehicle state information to the control center server, the control center server generates regulation and control instructions according to mining area monitoring data and vehicle state information of each vehicle and transmits the regulation and control instructions to corresponding vehicles under the condition that no manual control instruction information exists, generates regulation and control instructions according to mining area monitoring data and vehicle state information of each vehicle under the condition that external manual control instruction information exists, generates a fusion instruction according to manual control instructions, transmits the fusion instruction to the mining area vehicles, and the mining area vehicles perform automatic driving control according to the received instructions. According to the invention, the situation that the emergency and the like need to be intervened in manual control is considered, the manual control instruction and the original instruction can be fused, and the efficiency of system scheduling control and the safety of mining area operation under special situations are improved.

Inventors

ZHAO BIN
TANG JIANLIN
ZHOU CHANGCHENG
CHEN LONG

Assignees

江苏徐工工程机械研究院有限公司

Dates

Publication Date: 20260505
Application Date: 20220922

Claims (10)

1. The mine traffic control system is characterized by comprising a control center server and an autonomous running vehicle, wherein a video monitoring device is arranged in a running area of the mining vehicle, and the video monitoring device transmits monitoring data to the control center server; The autonomous running vehicle is provided with a communication module, a running control system and a state sensing system, wherein the state sensing system is used for detecting the state information of the vehicle and transmitting the state information to the running control system; The control center server is used for receiving mining area monitoring data, vehicle state information of each vehicle in the mining area and manual control instruction information, generating a regulation and control instruction for controlling the vehicles in the mining area according to the mining area monitoring data and the state information of each vehicle in the mining area under the condition of no manual control instruction information and issuing the regulation and control instruction to corresponding vehicles; The method for generating the fusion instruction by the control center server according to the regulation instruction and the manual control instruction comprises the following steps: if the manual control instruction is the global parking instruction, generating a fusion instruction for controlling the parking of all mining vehicles, and if the manual control instruction is the global parking instruction, generating a fusion instruction for controlling the parking of corresponding vehicles; If there is no global parking instruction and the regulation instruction of at least one vehicle is other than parking instruction, then: for manual control instructions of the designated areas, dividing all manual control instructions corresponding to each designated area according to the different areas; For each designated area, determining a vehicle to be driven into the designated area according to a regulation command corresponding to each vehicle, and acquiring vehicle speed information in corresponding vehicle regulation command information; Judging whether the area is allowed to pass or not according to all manual control instructions corresponding to the designated area, if not, generating a fusion instruction for controlling the corresponding vehicle to stop in front of the designated area, otherwise, judging whether the area needs to be closed, whether the obstacle is allowed to be closed or not according to all manual control instructions corresponding to the designated area, and whether the speed limit is regulated in all manual control instructions corresponding to the area, and generating the fusion instruction according to the judging result.
2. The mine traffic control system of claim 1, wherein the control center server comprises a web server, and wherein the manual control instruction information manually input from the web interface is acquired through the web server.
3. The mine traffic control system of claim 1, wherein the status information of the vehicle comprises at least one or more of a position, a vehicle speed, a load, and heading information of the vehicle; The autonomous running vehicle state sensing system comprises a weighing device, an environment sensing device, a vehicle speed detecting device and a positioning device, wherein the environment sensing device adopts a microwave radar and/or a laser radar, and the positioning device adopts a GNSS global navigation satellite system.
4. The mine traffic control system of claim 1, wherein the control type of the control command on the autonomous running vehicle at least comprises starting, running, speed reducing, accelerating and stopping, and the control command corresponding to running control comprises running track information and vehicle speed information; The control content of the manual control instruction at least comprises one or more of whether the designated area allows obstacle detouring, whether the designated area allows traffic, and whether the designated area slows down, and whether the whole area slows down and stops in an emergency.
5. The mine traffic control system of claim 4, wherein the manual control instruction comprises a control instruction and a global control instruction of a designated area, wherein the control instruction of the designated area comprises area information, whether passing information is allowed, whether obstacle detouring is needed, whether obstacle detouring information is allowed, speed limit information and instruction ageing information, or further comprises event information corresponding to the instruction, and the global control instruction comprises control content information, an instruction value and instruction ageing information.
6. The mine traffic control system of claim 5, wherein the control command of the designated area is issued when a falling stone, blasting operation, road wet skid and fault car occupation situation occur in the designated area; the global control commands include global deceleration control commands in severe weather, and global parking commands in extreme weather.
7. The mine traffic control system of any one of claims 1-6, wherein: Judging whether the area needs to be closed, whether the obstacle is allowed to be closed or not and whether the speed limit is specified in all manual control instructions corresponding to the area according to all manual control instructions corresponding to the designated area, and generating a fusion instruction according to a judging result, wherein the method comprises the following steps: The method comprises the steps of generating a fusion instruction for controlling a corresponding vehicle to stop in front of a designated area when obstacle detouring is required, generating a fusion instruction for controlling the corresponding vehicle to stop in front of the designated area if obstacle detouring is not required and speed limit is not regulated in all manual control instructions corresponding to the area, taking the regulation instruction as the fusion instruction if obstacle detouring is not required and at least one of all manual control instructions corresponding to the area regulates speed limit, adjusting the vehicle speed in the regulation instruction to be the minimum value of the vehicle speed in the regulation instruction and the manual control instruction, taking the regulation instruction after the vehicle speed information is adjusted as the fusion instruction according to the minimum value of the vehicle speed in the regulation instruction and the manual control instruction, generating a detouring track according to the running track in the regulation instruction and the speed limit in the regulation instruction, and taking the regulated vehicle speed in the regulation instruction and the regulation instruction as the fusion instruction according to the running track in the regulation instruction and the minimum value in the manual control instruction if obstacle detouring is required and obstacle detouring is not regulated.
8. The mine traffic control system of claim 7, wherein the control center server is further configured to perform timeliness management on the manual control instruction, delete the manual control instruction exceeding the effective time according to the instruction timeliness information, or store the manual control instruction exceeding the effective time and the effective manual control instruction respectively; And generating a fusion instruction according to the regulation instruction and the manual control instruction, wherein the fusion instruction is generated according to the regulation instruction and the effective manual control instruction.
9. A mine traffic control instruction fusion method, comprising: Acquiring mining area monitoring data, vehicle state information of each vehicle in the mining area and manual control instruction information; Under the condition of no manual control instruction information, generating a regulation and control instruction for controlling the vehicles in the mining area according to the mining area monitoring data and the vehicle state information of each vehicle in the mining area, and issuing the regulation and control instruction to the corresponding vehicle; under the condition of manual control instruction information, generating a fusion instruction according to the regulation instruction and the manual control instruction according to mining area monitoring data and the vehicle state information of each vehicle in the mining area, and issuing the fusion instruction to the mining area vehicle; Wherein, generating the fusion instruction according to the regulation instruction and the manual control instruction comprises: if the manual control instruction is the global parking instruction, generating a fusion instruction for controlling the parking of all mining vehicles, and if the manual control instruction is the global parking instruction, generating a fusion instruction for controlling the parking of corresponding vehicles; If there is no global parking instruction and the regulation instruction of at least one vehicle is other than parking instruction, then: for manual control instructions of the designated areas, dividing all manual control instructions corresponding to each designated area according to the different areas; For each designated area, determining a vehicle to be driven into the designated area according to a regulation command corresponding to each vehicle, and acquiring vehicle speed information in corresponding vehicle regulation command information; The method comprises the steps of judging whether a specified area is allowed to pass or not according to all manual control instructions corresponding to the specified area, generating a fusion instruction for controlling a corresponding vehicle to stop in front of the specified area if the area is not allowed to pass, judging whether the area needs to be closed-off and whether the area is allowed to be closed-off according to all manual control instructions corresponding to the specified area, generating a fusion instruction for controlling the corresponding vehicle to stop in front of the specified area if the area needs to be closed-off and the obstacle is not allowed to be closed-off, taking the regulation and control instruction as the fusion instruction if the area does not need to be closed-off and not provided with a specified speed limit in all manual control instructions corresponding to the area, adjusting the vehicle speed in the regulation and control instruction to a minimum value in the vehicle speed according to at least one specified speed limit in the manual control instruction, taking the regulation and control instruction after the vehicle speed is adjusted according to the specified speed limit in the at least one manual control instruction and the specified speed limit in the specified area, and taking the regulation and control instruction after the vehicle speed is adjusted according to the specified speed limit in the manual control instruction and the specified speed limit in the specified area if the obstacle is closed-off and the obstacle is not required to the specified.
10. The method of claim 9, wherein the manual control command includes command aging information; The method further comprises the steps of performing timeliness management on the manual control instruction, deleting the manual control instruction exceeding the effective time according to the instruction timeliness information, or respectively storing the manual control instruction exceeding the effective time and the effective manual control instruction; In the mine traffic control instruction fusion method, the generation of the fusion instruction according to the regulation instruction and the manual control instruction is that the fusion instruction is generated according to the regulation instruction and the effective manual control instruction.

Description

Mine traffic control system and instruction fusion method Technical Field The invention relates to the technical field of engineering machinery dispatching control, in particular to a mine traffic control system and an instruction fusion method. Background In open-pit mining areas, automatic driving vehicles are adopted for transporting ores or earthwork, and the automatic driving vehicles need to carry out traffic control so as to improve safety and reduce vehicle loss. Patent CN 106663369B provides a traffic control system for open-pit mining area, in which a communication device is installed at the dump truck and other vehicles with persons to connect with a traffic control server, a positioning device is installed to obtain the positioning of the vehicle, and the interference is avoided during the meeting of vehicles by setting the driving permission interval and the driving permission inhibition interval. However, the technical scheme does not consider coping with emergencies such as falling rocks and road occupation caused by faults, and other events such as rain and snow weather, mine production events such as blasting operation and the like, and under the condition, manual intervention is needed to implement traffic control, so that the control and scheduling efficiency is low. Disclosure of Invention The invention aims to provide a mine traffic control system and an instruction fusion method, which can fuse manual control instructions with original automatic control instructions in consideration of situations needing to intervene in manual control such as emergencies and the like, and improve the efficiency of system scheduling control under special situations. In order to achieve the purpose, the technical scheme adopted by the invention is that the mine traffic control system comprises a control center server and an autonomous running vehicle, wherein a video monitoring device is arranged in a running area of the mining vehicle, and the video monitoring device transmits monitoring data to the control center server; The autonomous running vehicle is provided with a communication module, a running control system and a state sensing system, wherein the state sensing system is used for detecting the state information of the vehicle and transmitting the state information to the running control system; The control center server is used for receiving mining area monitoring data, vehicle state information of each vehicle in the mining area and manual control instruction information, generating a regulation and control instruction for controlling the vehicles in the mining area according to the mining area monitoring data and the state information of each vehicle in the mining area under the condition of no manual control instruction information and issuing the regulation and control instruction to the corresponding vehicle, generating the regulation and control instruction according to the mining area monitoring data and the state information of each vehicle in the mining area under the condition of manual control instruction information, generating a fusion instruction according to the regulation and control instruction and the manual control instruction, and issuing the fusion instruction to the mining area vehicle. Optionally, the control center server comprises a web server, and the manual control instruction information manually input from the web interface is acquired through the web server. In addition, the manual control instruction can be transmitted to the control center server through a computer management interface of the control center site server or wireless communication and other modes, and details are omitted. Optionally, the state information of the vehicle at least comprises one or more of position, speed, load and heading information of the vehicle; the autonomous running vehicle state sensing system comprises a weighing device, an environment sensing device, a vehicle speed detecting device and a positioning device, wherein the environment sensing device adopts a microwave radar and/or a laser radar, and the positioning device adopts a GNSS (Global Navigation SATELLITE SYSTEM) global navigation satellite system. Optionally, the control type of the regulating instruction on the autonomous running vehicle at least comprises starting, running, speed reduction, acceleration and stopping, and the regulating instruction corresponding to running control comprises running track information and vehicle speed information; The control content of the manual control instruction at least comprises one or more of whether the designated area allows obstacle detouring, whether the designated area allows traffic, and whether the designated area slows down, and whether the whole area slows down and stops in an emergency. Optionally, the manual control instruction comprises a control instruction of a designated area and a global control instruction, wherein the control instruction of the designated area