CN119041906B - A remote control system and method for electric shovel in mining area - Google Patents
A remote control system and method for electric shovel in mining area Download PDFInfo
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- 238000005065 mining Methods 0.000 title claims abstract description 182
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000004364 calculation method Methods 0.000 claims abstract description 37
- 230000009471 action Effects 0.000 claims abstract description 33
- 238000009412 basement excavation Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims abstract description 6
- 230000005641 tunneling Effects 0.000 claims description 70
- 230000033001 locomotion Effects 0.000 claims description 40
- 230000008602 contraction Effects 0.000 claims description 20
- 238000005299 abrasion Methods 0.000 claims description 17
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- 239000011159 matrix material Substances 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 13
- 238000003860 storage Methods 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000013461 design Methods 0.000 claims description 8
- 238000012216 screening Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 238000005265 energy consumption Methods 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
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- 230000000694 effects Effects 0.000 abstract description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 abstract description 2
- 239000011707 mineral Substances 0.000 abstract description 2
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- 238000010276 construction Methods 0.000 description 3
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- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 238000004856 soil analysis Methods 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
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- 230000007613 environmental effect Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
本发明实施例提供了一种用于矿区电铲的远程控制系统及方法，涉及矿区电铲控制技术的技术领域。其系统包括：电铲，用于对矿区进行挖矿采集；矿区数据采集器，用于获取矿区信息；电铲数据采集器，用于获取电铲信息；数据处理端，用于通过预设的第一模型对矿区信息以及电铲信息进行路径规划计算，以得到电铲采矿路径以及矿区掘进方案；5G数据传输端，用于接收电铲采矿路径以及矿区掘进方案对应的数据包，并基于所述电铲采矿路径以及所述矿区掘进方案向电铲发送动作指令，以指示所述电铲进行采矿动作。通过本发明，解决了电铲寿命短的问题，进而达到了延长电铲寿命，提高电铲工作效率的效果。
The embodiment of the present invention provides a remote control system and method for an electric shovel in a mining area, and relates to the technical field of electric shovel control technology in a mining area. The system includes: an electric shovel, which is used to mine and collect minerals in the mining area; a mining area data collector, which is used to obtain mining area information; an electric shovel data collector, which is used to obtain electric shovel information; a data processing end, which is used to perform path planning calculations on the mining area information and the electric shovel information through a preset first model to obtain the electric shovel mining path and the mining area excavation plan; a 5G data transmission end, which is used to receive data packets corresponding to the electric shovel mining path and the mining area excavation plan, and send action instructions to the electric shovel based on the electric shovel mining path and the mining area excavation plan to instruct the electric shovel to perform mining actions. Through the present invention, the problem of short life of the electric shovel is solved, thereby achieving the effect of extending the life of the electric shovel and improving the working efficiency of the electric shovel.
Description
Technical Field
The embodiment of the invention relates to the field of electric shovel control, in particular to a remote control system and a remote control method for an electric shovel in a mining area.
Background
With the acceleration of the industrialization process, the exploitation demands of mineral resources are increasing. Surface mines continue to receive significant attention from the industry as an important way of mining resources, both in terms of efficiency and safety. In the conventional surface mining process, an electric shovel driver needs to perform local operation under severe environments (such as high temperature, dust and the like) to finish shovel loading operation. The working mode has high labor intensity and high working danger, and occupational diseases and safety accidents are easy to occur.
To address these challenges, the industry has sought to achieve "less, unmanned" of the driver's posts of surface mine electric shovels. Through the application of remote control technology, can shift the electric shovel driver from abominable mining area environment to indoor to provide safer, convenient operation mode, and improve the operating efficiency of electric shovel. However, achieving this objective requires solving a number of technical challenges, including modification and design of electric shovel equipment, support of wireless transmission infrastructure networks, support of computing and storage resources, construction of remote control software and hardware environments, and the like.
Among these challenges, support of the wireless transmission infrastructure network is particularly critical. Because mine production sites require wide area coverage of networks and support applications of mobile equipment, traditional wired and wireless network technologies often have difficulty in meeting business requirements in the face of severe, complex and changeable situations. In addition, the gradient of electric shovel operation and the hardness of the face of working are showing the use influence of electric shovel, especially in the environment that the gradient is great, have put forward higher requirement to life and the stability of equipment.
There is currently no better solution to the above problems.
Disclosure of Invention
The embodiment of the invention provides a remote control system and a remote control method for an electric shovel in a mining area, which are used for at least solving the problem of short service life of the electric shovel in the related technology.
According to one embodiment of the present invention, there is provided a remote control system for a mining area electric shovel, comprising:
The electric shovel is used for carrying out mining and collection on a mining area;
The mining area data acquisition device is used for acquiring mining area information, wherein the mining area information comprises mining area gradient and mining area environment information;
The electric shovel data acquisition device is used for acquiring electric shovel information, wherein the electric shovel information comprises electric shovel big arm parameters and electric shovel historical mining parameters;
The system comprises a data processing end, a power shovel mining path, a mining area planning and a target tunneling scheme, wherein the power shovel mining path is obtained based on a preset constraint formula, the path planning comprises an alternative path node and an alternative tunneling scheme which meet tunneling requirements according to the mining area information through the first model, the alternative tunneling scheme comprises a platform building height, a platform width, a source angle of repose, a large arm cylinder motion stroke, a tunneling direction and a vehicle withdrawing boundary line, the alternative path node and the alternative tunneling scheme are screened according to the constraint formula and the power shovel information to obtain the target path node and the target tunneling scheme, and the power shovel mining path comprises the target path node and the target tunneling scheme;
And the 5G data transmission end is used for receiving data packets corresponding to the electric shovel mining path and the mining area tunneling scheme, and sending an action instruction to the electric shovel based on the electric shovel mining path and the mining area tunneling scheme so as to instruct the electric shovel to conduct mining action.
In one exemplary embodiment, further comprising:
The detection module is used for sending an action instruction to the electric shovel according to the electric shovel mining path and the mining area tunneling scheme so as to instruct the large arm of the electric shovel to carry out mining action, and then detecting the expansion and contraction amount of the cylinder of the disc brake of the electric shovel through the first sensor so as to obtain the expansion and contraction amount of the cylinder;
the abrasion determining module is used for determining rotor abrasion information of the electric shovel according to the expansion and contraction amount of the air cylinder;
and the state calculation module is used for determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor abrasion information and the motor bearing temperature information.
In one exemplary embodiment, the determining the operating state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information, and the motor bearing temperature information includes:
Acquiring movement information of the electric shovel, wherein the movement information comprises movement position coordinates and ore loading weight in the electric shovel mining process, and the electric shovel coordinates comprise the movement position coordinates;
Constructing a mining parameter matrix according to the motion position coordinates, the ore loading weight, the rotor wear information and the motor bearing temperature information;
And carrying out state calculation on the mining parameter matrix, determining that the electric shovel is in a first state when the state calculation result is in a first area, determining that the electric shovel is in a second state when the state calculation result is in a second area, and determining that the electric shovel is in a third state when the state calculation result is in a third area.
In one exemplary embodiment, the constraint formula includes at least a geometric constraint and a kinetic constraint, wherein the geometric constraint includes:
;
Wherein x is the position coordinate of the electric shovel, Is the current length of the electric bucket rod,Is the design length of the electric bucket rod,Is the minimum vertical height of the bucket bottom of the electric shovel; is the current vertical height of the tooth of the electric shovel, Is the final vertical height of the bucket teeth of the electric shovel;
The kinetic constraints include:
;
In the formula, Is the mass of the electric shovel and is characterized in that,Is the acceleration of the electric shovel during the action,Is the stiffness coefficient of the system,Is the digging resistance.
According to another embodiment of the present invention, there is provided a remote control method for a mining area electric shovel, applied to the aforementioned remote control system for a mining area electric shovel, including:
Acquiring mining area information and electric shovel information, wherein the mining area information comprises mining area gradient and mining area environment information, and the electric shovel information comprises electric shovel boom parameters and electric shovel historical mining parameters;
The method comprises the steps of calculating the length, the energy consumption and the arm length of a plurality of routes formed by the target path node and the target tunneling scheme according to the platform construction height, the platform width, the goods source repose angle, the large arm cylinder movement stroke, the tunneling direction and the vehicle withdrawing boundary line, screening the candidate path node and the candidate tunneling scheme according to the constraint formula and the electric shovel information to obtain the target path node and the target tunneling scheme, wherein the electric shovel mining path is obtained based on a preset constraint formula, and the mining area scheme comprises the target tunneling scheme;
and sending an action instruction to the electric shovel through a 5G network according to the electric shovel mining path and the mining area tunneling scheme so as to instruct the large arm of the electric shovel to carry out mining action.
In one exemplary embodiment, after said sending an action instruction to the electric shovel to instruct the electric shovel boom to perform a mining action according to the electric shovel mining path and the mining area tunneling scheme, the information method further comprises:
Detecting the expansion and contraction amount of a cylinder of a disc brake of the electric shovel through a first sensor to obtain the expansion and contraction amount of the cylinder, and detecting the temperature of a motor bearing of the electric shovel through a second sensor to obtain the temperature information of the motor bearing;
Determining rotor abrasion information of the electric shovel according to the cylinder expansion and contraction quantity;
and determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor abrasion information and the motor bearing temperature information.
In one exemplary embodiment, the determining the operating state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information, and the motor bearing temperature information includes:
Acquiring movement information of the electric shovel, wherein the movement information comprises movement position coordinates and ore loading weight in the electric shovel mining process, and the electric shovel coordinates comprise the movement position coordinates;
Constructing a mining parameter matrix according to the motion position coordinates, the ore loading weight, the rotor wear information and the motor bearing temperature information;
And carrying out state calculation on the mining parameter matrix, determining that the electric shovel is in a first state when the state calculation result is in a first area, determining that the electric shovel is in a second state when the state calculation result is in a second area, and determining that the electric shovel is in a third state when the state calculation result is in a third area.
In one exemplary embodiment, the constraint formula includes at least a geometric constraint and a kinetic constraint, wherein the geometric constraint includes:
;
Wherein x is the position coordinate of the electric shovel, Is the current length of the electric bucket rod,Is the design length of the electric bucket rod,Is the minimum vertical height of the bucket bottom of the electric shovel; is the current vertical height of the tooth of the electric shovel, Is the final vertical height of the bucket teeth of the electric shovel;
The kinetic constraints include:
;
In the formula, Is the mass of the electric shovel and is characterized in that,Is the acceleration of the electric shovel during the action,Is the stiffness coefficient of the system,Is the digging resistance.
According to a further embodiment of the invention, there is also provided a computer readable storage medium having stored therein a computer program, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
According to a further embodiment of the invention, there is also provided an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
According to the invention, the information such as the gradient of the mining area is combined with the tunneling path and the tunneling plan of the electric shovel, so that the service life of the electric shovel is prolonged and the loss of the electric shovel is reduced under the condition of ensuring the working efficiency, and therefore, the problem of short service life of the electric shovel can be solved, and the effect of prolonging the service life of the electric shovel is achieved.
Drawings
FIG. 1 is a block diagram of a remote control system for a mining area electric shovel according to an embodiment of the present invention;
fig. 2 is a flow chart of a remote control method for a mining area electric shovel according to an embodiment of the present invention.
Detailed Description
The following description of the technical solutions according to the embodiments of the present application will be given with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments.
Hereinafter, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
Furthermore, in the present application, directional terms "upper", "lower", "left", "right" and the like may be defined with reference to an orientation in which components are schematically disposed in the drawings, and it should be understood that these directional terms may be relative concepts, which are used for the description and clarity with respect thereto, and which may be correspondingly varied according to the variation in the orientation in which components are disposed in the drawings.
In the present application, unless explicitly stated and limited otherwise, the term "coupled" is to be construed broadly, and for example, the term "coupled" may be a fixed connection, a removable connection, or an integral unit, and may be directly or indirectly coupled via an intervening medium. Furthermore, the term "coupled" may be a means of electrical connection for achieving signal transmission.
As used herein, "about," "approximately" or "approximately" includes the stated values as well as average values within an acceptable deviation range of the particular values as determined by one of ordinary skill in the art in view of the measurement in question and the errors associated with the measurement of the particular quantity (i.e., limitations of the measurement system).
In this embodiment, there is provided a block diagram of a remote control system for a mining area electric shovel, as shown in fig. 1, the system including:
The electric shovel 11 is used for carrying out mining collection on a mining area;
A mining area data collector 12 for acquiring mining area information, wherein the mining area information comprises mining area gradient and mining area environment information;
The electric shovel data collector 13 is used for acquiring electric shovel information, wherein the electric shovel information comprises electric shovel boom parameters and electric shovel historical mining parameters;
the data processing end 14 is used for carrying out path planning calculation on mining area information and electric shovel information through a preset first model to obtain an electric shovel mining path and a mining area tunneling scheme, wherein the electric shovel mining path is obtained based on a preset constraint formula;
and the 5G data transmission end 15 is used for receiving data packets corresponding to the electric shovel mining path and the mining area tunneling scheme, and sending an action instruction to the electric shovel based on the electric shovel mining path and the mining area tunneling scheme so as to instruct the electric shovel to conduct mining actions.
In this embodiment, the electric shovel data collector 13 includes an electric shovel sensor provided on the electric shovel 11 and an information input end provided on the vehicle body, and electric shovel boom parameters including a length of the boom, a maximum extension angle, lifting capacity, moment limitation, and the like, and electric shovel history mining parameters are obtained through the information input end. The parameters determine the excavation range and the excavation capability of the electric shovel, the electric shovel sensor is used for collecting working data of key parts (such as a rotor and the like) of the electric shovel and judging abrasion and damage conditions according to the working data, particularly, when the working state of the electric shovel needs to be adjusted according to the posture change of a bucket of the electric shovel, the electric shovel sensor can further comprise sensing equipment for sensing the posture of the electric shovel, such as a posture gyroscope and a camera for sensing and identifying posture images, the mining area data collector 12 comprises a camera arranged in a mining area, a mining area unmanned aerial vehicle, a mining area surveying radar vehicle, a temperature and humidity sensor, a dust collecting sensor and the like, the equipment transmits the working data through a 5G data transmission end 15 and processes the working data through a data processing end 14, mining area gradient information comprises the maximum gradient, the average gradient and the gradient change of the gradient, the gradient information can be obtained through topographic surveying, unmanned aerial vehicle or vehicle-mounted measuring system and the like, mining area environment information comprises weather conditions, geological structures, soil exploration types and the like, and the acquisition of the environment information can be realized through weather stations, soil analysis modes and soil analysis modes. Such as the wind speed, temperature, humidity and other climate data of the mining area, and in particular, the mining area information comprises geological information such as the type of ore to be collected, the rock type of the mining area, the soil type, the underground water level, the mining layer distribution of the mining area and the like which are input in advance besides the gradient of the mining area and the environmental information of the mining area.
The error of manual decision making can be reduced by carrying out path planning calculation through the first model, and meanwhile, the path planning efficiency is improved, and particularly, the first model comprises an RRT (rapid-exploring random tree) algorithm model, and the path planning is mainly realized through the following steps of;
Firstly, calculating an alternative path node and an alternative tunneling scheme which meet tunneling requirements by a first model according to mining area information, wherein the calculation process of the alternative path node by the first model is as follows; and then randomly selecting a point from the pre-detected excavated points which can be excavated as a potential target point according to the direction required to be excavated, then finding a node closest to the random point in a search tree, wherein the node is used as a starting point of a new path, checking whether a straight line path from the closest node to the random point is feasible or not, namely whether an obstacle is blocked on the path, if the path is feasible, calculating the path from the closest node to the random point, checking whether the path meets the motion constraint (such as speed and acceleration limitation) of the electric shovel, if the path meets all the constraint, adding the random point into the search tree, connecting the random point with the closest node, repeating the process until the covering position of the electric shovel on all the preset areas is completed, and calculating an alternative tunneling scheme is similar, and is not repeated, wherein the alternative tunneling scheme comprises a platform building height (usually 2-4m for adapting to the reversing operation of a truck perpendicular to the crawler and the loading operation parallel to the crawler), a platform width (usually 6-9m, wherein the safety distance from the outer edge is not smaller than 0.6 m, the safety distance is usually 0.8-1.8 degrees, the boom is set to be 60 degrees, the driving source of the truck is set to be 60 degrees, and the like.
And 2, screening alternative path nodes and alternative tunneling schemes according to constraint formulas and electric shovel information to obtain target path nodes and target tunneling schemes, for example, for alternative path nodes B/B ', the two nodes meet the constraint formulas, but the platform width of the node B ' cannot meet the requirements, node B ' is abandoned at the moment, and so on, or generating a plurality of tunneling routes and tunneling schemes according to all alternative path nodes, then calculating the lengths, energy consumption and arm extension lengths of the paths in the routes (the larger the amount of ore which can be excavated is), and the larger the excavation space of the electric shovel is, so as to calculate the excavation coverage of the electric shovel in each route, and then screening the nodes according to the coverage to obtain the route and the tunneling scheme with the largest coverage, and so on.
Wherein the constraint formula comprises at least a geometric constraint and a kinetic constraint, wherein the geometric constraint comprises:
(equation 1);
Wherein x is the position coordinate of the electric shovel, Is the current length of the electric bucket rod,Is the design length of the electric bucket rod,Is the minimum vertical height of the bucket bottom of the electric shovel; is the current vertical height of the tooth of the electric shovel, Is the final vertical height of the tooth of the electric shovel.
The kinetic constraints include:
(equation 2);
In the formula, Is the mass of the electric shovel and is characterized in that,Is the acceleration of the electric shovel during the action,Is the stiffness coefficient of the system,Is the digging resistance.
In addition, in the present embodiment, the following constraints are included:
Performance constraints:
(equation 3);
In the formula, Is the instantaneous boost mechanical power of the boost motor of the electric shovel,Is the maximum mechanical power of the hoist motor of the electric shovel,Is the pushing power of the pushing motor of the electric shovel,Is the maximum power of the push motor,Is that the pressing force of the pressing force is set,Is the maximum pushing force of the steel plate,Is the pushing torque and the pushing force is the pushing torque,Is the maximum pushing torque.
Target-oriented constraint:
(equation 4);
In the formula, Is the full fill rate of the electric shovel.
Path curvature constraint:
(equation 5);
In the formula, Is the maximum allowable curvature of the path of the electric shovel,Is the arc length parameter of the path.
It should be noted that, in this process, to ensure the service life of the electric shovel, the action height of the electric shovel needs to be limited, so as to control different movement states of the electric shovel, for example:
1. lifting the bucket to a position close to the top pulley, and setting the bucket to be at the highest lifting point;
2. lowering the bucket to an excavation position close to the ground, and setting the lowest point of the lowering;
3. Converting the moving distance of the bucket from the lowest point to the highest point into a percentage representation of 0 to 100%;
The position threshold is set, when the position of the bucket displayed by the encoder reaches the threshold, the protection limit area is entered, the area comprises an ascending limit area and a descending limit area, the last 10% to the top end part of the total stroke is divided into an ascending limit area in the ascending process of the bucket, the area is divided into a plurality of levels, each level corresponds to different bucket driving moment, the moment is gradually reduced from large to small, when the driving moment is reduced to the lowest level, the gravity of the bucket is balanced, when the stroke reaches 100%, the ascending command of the bucket is not reacted any more, and in the descending process of the bucket, the area is divided into a descending limit area, the area is divided into a plurality of levels, each level corresponds to different bucket driving moment, the moment is gradually increased from small to large, and when the stroke is reduced to 0%, the bucket does not respond to the descending command any more.
Through the steps, the information such as the gradient of the mining area is combined with the tunneling path and the tunneling plan of the electric shovel, so that the service life of the electric shovel is prolonged, the loss of the electric shovel is reduced, the problem of short service life of the electric shovel is solved, and the service life of the electric shovel is prolonged under the condition of ensuring the working efficiency.
In an alternative embodiment, the method further comprises:
The detection module is used for sending an action instruction to the electric shovel according to the electric shovel mining path and the mining area tunneling scheme so as to instruct the large arm of the electric shovel to carry out mining action, and then detecting the expansion and contraction amount of the cylinder of the disc brake of the electric shovel through the first sensor so as to obtain the expansion and contraction amount of the cylinder;
the abrasion determining module is used for determining rotor abrasion information of the electric shovel according to the expansion and contraction amount of the air cylinder;
and the state calculation module is used for determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor abrasion information and the motor bearing temperature information.
In the embodiment, during the working process of the electric shovel, the expansion and contraction amount of the air cylinder and the temperature of the motor bearing have the most obvious influence on the electric shovel, so that special detection is needed for the expansion and contraction amount of the air cylinder and the temperature of the motor bearing.
The first sensor may be a linear displacement sensor or an encoder, the second sensor may be a thermocouple or an infrared sensor, after the cylinder expansion amount and the motor bearing temperature are obtained, the collected cylinder expansion amount data is compared with design parameters and history maintenance records of the brake, and if the expansion amount exceeds a normal range, it may indicate that the rotor is worn seriously, at this time, coordinates of the electric shovel, wear information and bearing temperature may be converted into a three-dimensional map, and whether relevant values are normal or not is judged by judging the volume and the shape of a three-dimensional model formed by the three values, for example, when the volume exceeds a preset value or the shape does not accord with the preset shape, it is determined that the working state of the electric shovel may be abnormal.
In an alternative embodiment, the determining the operating state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information, and the motor bearing temperature information includes:
Acquiring movement information of the electric shovel, wherein the movement information comprises movement position coordinates and ore loading weight in the electric shovel mining process, and the electric shovel coordinates comprise the movement position coordinates;
Constructing a mining parameter matrix according to the motion position coordinates, the ore loading weight, the rotor wear information and the motor bearing temperature information;
And carrying out state calculation on the mining parameter matrix, determining that the electric shovel is in a first state when the state calculation result is in a first area, determining that the electric shovel is in a second state when the state calculation result is in a second area, and determining that the electric shovel is in a third state when the state calculation result is in a third area.
In this embodiment, in different working states (for example, full load and no load), the coordinates of the electric shovel, the rotor wear condition, the corresponding motor bearing temperature, and the like are all different, in order to improve the calculation accuracy, the motion coordinates, the loading weight, and the like may be encoded together, and the encoded numerical values may be filled into the matrix according to a preset matrix construction rule, thereby constructing a mining parameter matrix, then the matrix is calculated numerically, when the numerical values are within a preset threshold range (corresponding to the first region, for example, [1.5-2.1 ]), the electric shovel is determined to be in a normal state (corresponding to the first state), if the specific region (corresponding to the second region, for example, [1.5-1.6] [2.0-2.1 ]) is located within the preset range, then the critical state (corresponding to the second state) is determined to be in a critical state (corresponding to the third state), and, of course, when the numerical values are within the preset threshold range (corresponding to the first region, for example, [1.5-2.1 ]) is located within the preset range, then the specific state is determined to be in a normal state, otherwise, the critical state is determined to be in a normal state.
There is also provided in this embodiment a remote control method for a mining area electric shovel, which is applied to the foregoing remote control system for a mining area electric shovel, and fig. 2 is a flowchart of a remote control method for a mining area electric shovel according to an embodiment of the present invention, as shown in fig. 2, and the flowchart includes the steps of:
S21, acquiring mining area information and electric shovel information, wherein the mining area information comprises mining area gradient and mining area environment information, and the electric shovel information comprises electric shovel boom parameters and electric shovel history mining parameters;
The method comprises the steps of S22, carrying out path planning calculation on mining area information and electric shovel information through a preset first model to obtain an electric shovel mining path and a mining area tunneling scheme, wherein the electric shovel mining path is obtained based on a preset constraint formula, the path planning comprises calculating alternative path nodes and alternative tunneling schemes which meet tunneling requirements according to the mining area information through the first model, the alternative tunneling schemes comprise platform building height, platform width, source angle of repose, large arm cylinder movement travel, tunneling direction and vehicle withdrawing boundary line, screening the alternative path nodes and the alternative tunneling schemes according to the constraint formula and the electric shovel information to obtain target path nodes and target tunneling schemes, and the electric shovel mining path comprises the target path nodes and the mining area schemes;
And S23, sending an action instruction to the electric shovel through a 5G network according to the electric shovel mining path and the mining area tunneling scheme so as to instruct the large arm of the electric shovel to carry out mining action.
In an alternative embodiment, after said sending an action command to the electric shovel to instruct the electric shovel boom to perform a mining action according to said electric shovel mining path and said mining area tunneling scheme, the information method further comprises:
step S24, detecting the expansion and contraction amount of a cylinder of a disc brake of the electric shovel through a first sensor to obtain the expansion and contraction amount of the cylinder, and detecting the temperature of a motor bearing of the electric shovel through a second sensor to obtain the temperature information of the motor bearing;
s25, determining rotor abrasion information of the electric shovel according to the cylinder expansion and contraction amount;
and S26, determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor abrasion information and the motor bearing temperature information.
In an alternative embodiment, the determining the operating state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor wear information, and the motor bearing temperature information includes:
Step S261, motion information of the electric shovel is obtained, wherein the motion information comprises motion position coordinates and ore loading weight in the electric shovel mining process, and the electric shovel coordinates comprise the motion position coordinates;
Step S262, constructing a mining parameter matrix according to the motion position coordinates, the ore loading weight, the rotor abrasion information and the motor bearing temperature information;
Step S263, performing state calculation on the mining parameter matrix, determining that the electric shovel is in a first state when the state calculation result is located in a first area, determining that the electric shovel is in a second state when the state calculation result is located in a second area, and determining that the electric shovel is in a third state when the state calculation result is located in a third area.
In an alternative embodiment, the constraint formula includes at least a geometric constraint and a kinetic constraint, wherein the geometric constraint includes:
(equation 6);
Wherein x is the position coordinate of the electric shovel, Is the current length of the electric bucket rod,Is the design length of the electric bucket rod,Is the minimum vertical height of the bucket bottom of the electric shovel; is the current vertical height of the tooth of the electric shovel, Is the final vertical height of the tooth of the electric shovel.
The kinetic constraints include:
(equation 7);
In the formula, Is the mass of the electric shovel and is characterized in that,Is the acceleration of the electric shovel during the action,Is the stiffness coefficient of the system,Is the digging resistance.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The embodiment also provides a remote control system for the mining area electric shovel, which is used for realizing the embodiment and the preferred implementation mode, and the description is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
It should be noted that each of the above modules may be implemented by software or hardware, and the latter may be implemented by, but not limited to, the above modules all being located in the same processor, or each of the above modules being located in different processors in any combination.
Embodiments of the present invention also provide a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
In an exemplary embodiment, the computer readable storage medium may include, but is not limited to, a U disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, etc. various media in which a computer program may be stored.
An embodiment of the invention also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
In an exemplary embodiment, the electronic apparatus may further include a transmission device connected to the processor, and an input/output device connected to the processor.
It will be apparent to those skilled in the art from this description that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another apparatus, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and the parts shown as units may be one physical unit or a plurality of physical units, may be located in one place, or may be distributed in a plurality of different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application may be essentially or a part contributing to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions for causing a device (may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps of the methods of the embodiments of the present application. The storage medium includes a U disk, a removable hard disk, a Read Only Memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (6)
1. A remote control system for a mining area electric shovel, comprising:
The electric shovel is used for carrying out mining and collection on a mining area;
The mining area data acquisition device is used for acquiring mining area information, wherein the mining area information comprises mining area gradient and mining area environment information;
The electric shovel data acquisition device is used for acquiring electric shovel information, wherein the electric shovel information comprises electric shovel big arm parameters and electric shovel historical mining parameters;
The data processing end is used for carrying out path planning calculation on mining area information and electric shovel information through a preset first model to obtain an electric shovel mining path and a mining area tunneling scheme, wherein the first model comprises a rapid exploration random tree algorithm model, the electric shovel mining path is obtained based on a preset constraint formula, the path planning comprises the steps of 1, calculating alternative path nodes meeting tunneling requirements and alternative tunneling schemes according to the mining area information through the first model, wherein the alternative path node calculation comprises the steps of selecting a starting point as a root node of a tree, then randomly selecting a point as a potential target point in a pre-detected tunneling point which can be excavated according to the direction of excavation, then finding a node closest to the random point in a search tree, taking the node as a starting point of a new path, checking whether a straight line path from the closest node to the random point is feasible, namely whether an obstacle is blocked on the path, calculating a path from the closest node to the random point and checking whether the path meets the motion constraint of an electric shovel, if the path is feasible, adding the alternative path nodes to the random point to the constraint scheme, and filtering the alternative path to the target point according to the constraint formula, and filtering the alternative path until the alternative tunneling scheme is similar to the target tunneling scheme is completed, 2, the mining area tunneling scheme comprises the target tunneling scheme; the alternative tunneling scheme comprises a platform building height, a platform width, a cargo source repose angle, a large arm oil cylinder movement stroke, a tunneling direction and a vehicle withdrawing boundary line, wherein the screening process comprises the following steps of calculating lengths, energy consumption and arm extension length of an electric shovel in each route of a plurality of routes formed by the target path nodes and the target tunneling scheme, determining the digging coverage area of the electric shovel in each route according to the constraint formula and the electric shovel information, and screening each route according to the coverage area;
The 5G data transmission end is used for receiving data packets corresponding to the electric shovel mining path and the mining area tunneling scheme, and sending an action instruction to the electric shovel based on the electric shovel mining path and the mining area tunneling scheme so as to instruct the electric shovel to conduct mining action;
wherein, still include:
The detection module is used for sending an action instruction to the electric shovel based on the electric shovel mining path and the mining area tunneling scheme so as to instruct the electric shovel to carry out mining action, and then detecting the expansion and contraction amount of a cylinder of a disc brake of the electric shovel through a first sensor so as to obtain the expansion and contraction amount of the cylinder;
the abrasion determining module is used for determining rotor abrasion information of the electric shovel according to the expansion and contraction amount of the air cylinder;
The state calculation module is used for determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor abrasion information and the motor bearing temperature information;
Wherein the constraint formula comprises at least a geometric constraint and a kinetic constraint, wherein the geometric constraint comprises:
;
Wherein x is the position coordinate of the electric shovel, Is the current length of the electric bucket rod,Is the design length of the electric bucket rod,Is the minimum vertical height of the bucket bottom of the electric shovel; Is the current vertical height of the tooth of the electric shovel, Is the final vertical height of the bucket teeth of the electric shovel;
The kinetic constraints include:
;
In the formula, Is the mass of the electric shovel and is characterized in that,Is the acceleration of the electric shovel during the action,Is the stiffness coefficient of the system,Is the digging resistance.
2. The remote control system for a mining area electric shovel of claim 1, wherein the determining an operating state of the electric shovel based on pre-acquired electric shovel coordinates, the rotor wear information, and the motor bearing temperature information comprises:
Acquiring movement information of the electric shovel, wherein the movement information comprises movement position coordinates and ore loading weight in the electric shovel mining process, and the electric shovel coordinates comprise the movement position coordinates;
Constructing a mining parameter matrix according to the motion position coordinates, the ore loading weight, the rotor wear information and the motor bearing temperature information;
and carrying out state calculation on the mining parameter matrix, determining that the electric shovel is in a normal state when the state calculation result is positioned in a first area, determining that the electric shovel is in a critical state when the state calculation result is positioned in a second area, and determining that the electric shovel is in an abnormal state when the state calculation result is positioned in a third area.
3. A remote control method for a mining area electric shovel, characterized by being applied to the remote control system for a mining area electric shovel according to any one of claims 1-2, comprising:
Acquiring mining area information and electric shovel information, wherein the mining area information comprises mining area gradient and mining area environment information, and the electric shovel information comprises electric shovel boom parameters and electric shovel historical mining parameters;
the method comprises the steps of carrying out path planning calculation on mining area information and electric shovel information through a preset first model to obtain an electric shovel mining path and a mining area tunneling scheme, wherein the first model comprises a rapid exploration random tree algorithm model, the electric shovel mining path is obtained based on a preset constraint formula, the path planning comprises the steps of 1, calculating alternative path nodes meeting tunneling requirements and alternative tunneling schemes according to the mining area information through the first model, wherein the alternative path node calculation comprises the steps of selecting a starting point as a root node of a tree, then randomly selecting a point as a potential target point in pre-detected mining points according to the direction required to be mined, then finding a node closest to the random point in a search tree, taking the node as a starting point of a new path, checking whether a straight line path from the closest node to the random point is feasible or not, namely whether an obstacle is blocked on the path, calculating the path from the closest node to the random point and checking whether the path meets the motion constraint of an electric shovel or not, if the path is feasible, adding the constraint scheme to the random point to the current shovel, and filtering the alternative path to the target point according to the constraint formula, and filtering the alternative path until the target tunneling scheme is completed, and the target tunneling scheme is similar to the target point is calculated, the step is completed, the mining area tunneling scheme comprises the target tunneling scheme; the alternative tunneling scheme comprises a platform building height, a platform width, a cargo source repose angle, a large arm oil cylinder movement stroke, a tunneling direction and a vehicle withdrawing boundary line, wherein the screening process comprises the following steps of calculating lengths, energy consumption and arm extension length of an electric shovel in each route of a plurality of routes formed by the target path nodes and the target tunneling scheme, determining the digging coverage area of the electric shovel in each route according to the constraint formula and the electric shovel information, and screening each route according to the coverage area;
according to the mining path of the electric shovel and the mining area tunneling scheme, sending an action instruction to the electric shovel through a 5G network so as to instruct a large arm of the electric shovel to carry out mining action;
Wherein after the sending an action instruction to the electric shovel based on the electric shovel mining path and the mining area tunneling scheme to instruct the electric shovel to perform a mining action, the method further comprises:
Detecting the expansion and contraction amount of a cylinder of a disc brake of the electric shovel through a first sensor to obtain the expansion and contraction amount of the cylinder, and detecting the temperature of a motor bearing of the electric shovel through a second sensor to obtain the temperature information of the motor bearing;
Determining rotor abrasion information of the electric shovel according to the cylinder expansion and contraction quantity;
Determining the working state of the electric shovel based on the pre-acquired electric shovel coordinates, the rotor abrasion information and the motor bearing temperature information;
Wherein the constraint formula comprises at least a geometric constraint and a kinetic constraint, wherein the geometric constraint comprises:
;
Wherein x is the position coordinate of the electric shovel, Is the current length of the electric bucket rod,Is the design length of the electric bucket rod,Is the minimum vertical height of the bucket bottom of the electric shovel; Is the current vertical height of the tooth of the electric shovel, Is the final vertical height of the bucket teeth of the electric shovel;
The kinetic constraints include:
;
In the formula, Is the mass of the electric shovel and is characterized in that,Is the acceleration of the electric shovel during the action,Is the stiffness coefficient of the system,Is the digging resistance.
4. The method of claim 3, wherein the determining the operating state of the electric shovel based on pre-acquired electric shovel coordinates, the rotor wear information, and the motor bearing temperature information comprises:
Acquiring movement information of the electric shovel, wherein the movement information comprises movement position coordinates and ore loading weight in the electric shovel mining process, and the electric shovel coordinates comprise the movement position coordinates;
Constructing a mining parameter matrix according to the motion position coordinates, the ore loading weight, the rotor wear information and the motor bearing temperature information;
and carrying out state calculation on the mining parameter matrix, determining that the electric shovel is in a normal state when the state calculation result is positioned in a first area, determining that the electric shovel is in a critical state when the state calculation result is positioned in a second area, and determining that the electric shovel is in an abnormal state when the state calculation result is positioned in a third area.
5. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program, wherein the computer program is arranged to execute the method of any of the claims 3 to 4 when run.
6. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of any of the claims 3 to 4.
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