CN115755886A

CN115755886A - Surface mine loading cooperative operation method, transportation equipment platform, cooperative operation platform and system

Info

Publication number: CN115755886A
Application number: CN202211316139.8A
Authority: CN
Inventors: 王龙; 韩永; 高警卫
Original assignee: Jiangsu Xugong Construction Machinery Research Institute Co ltd
Current assignee: Jiangsu Xugong Construction Machinery Research Institute Co ltd
Priority date: 2022-10-26
Filing date: 2022-10-26
Publication date: 2023-03-07

Abstract

The invention discloses a loading cooperative operation method, a transportation equipment platform, a cooperative operation platform and a system for a surface mine, which comprise the following steps: setting parameters, and initializing a loading bit; acquiring loading bit data and a path point set thereof in an operation area, acquiring the position coordinates of equipment in real time, and updating the state of the loading bit; when a truck admission request is received, allocating an idle loading position and a corresponding path point set and a right of way thereof; controlling the truck to drive into the loading position according to the cooperative operation state and the collision prediction result; in the loading operation process, the load of a truck, the position of a bucket or a trigger instruction are collected to judge the departure condition; and after the departure condition is met, controlling the truck to exit the operation area according to the cooperative operation state and the collision prediction result, and finishing cooperative operation control. The invention solves the problem of lower efficiency of multi-vehicle loading cooperative operation in the unmanned transportation system of the surface mine, can realize automatic guidance of multiple vehicles, and improves the utilization rate of loading equipment, thereby improving the efficiency of loading cooperative operation in an operation area.

Description

Surface mine loading cooperative operation method, transportation equipment platform, cooperative operation platform and system

Technical Field

The invention belongs to the field of unmanned surface mine, and particularly relates to a surface mine loading cooperative operation method, a transportation equipment platform, a cooperative operation platform and a system.

Background

With the development of the domestic unmanned technology, the domestic surface mine gradually practices the application of the unmanned technology in mine production, however, the production operation particularity and complexity of the surface mine cause the realization of an unmanned system of the surface mine to face a plurality of technical challenges, wherein the loading cooperative operation of unmanned transport equipment in a loading area is one of important technologies in the field of the unmanned transport technology of the surface mine and is also a key link for restricting the production efficiency of the mine.

Disclosure of Invention

The invention aims to improve the loading cooperative operation efficiency of an operation area and reduce the cooperative operation labor intensity of a driver of excavating equipment, and provides a full-process cooperative operation method of transportation equipment in the operation area.

In order to achieve the technical purpose, the invention adopts the following technical scheme.

In a first aspect, the present invention provides a cooperative loading operation method for a surface mine, the method being applied to a cooperative loading platform, and the method including:

receiving an entrance request sent by target transport equipment participating in cooperative work, wherein the target transport equipment drives to a designated position in front of a loading area, is in an entrance waiting state and is added into an entrance waiting list;

allocating an idle loading position for the target transport equipment which sends the admission request, and updating the state of the allocated loading position to be an occupied state; generating an entrance instruction according to the identification of the target transport equipment sending the entrance request, the identification of the entrance instruction, the identification of the allocated loading position, the corresponding path point set from the target transport equipment sending the entrance request to the allocated loading position and the right of way; returning and sending an entrance request to the transportation equipment platform;

sending an entrance driving instruction to the transportation equipment platform so that the transportation equipment platform enables the entrance target transportation equipment to exit the entrance waiting list, the state is converted from an entrance waiting state to an entrance driving state, and the entrance target transportation equipment is controlled to drive to the loading position according to the entrance driving instruction and the entrance instruction content, or the entrance target transportation equipment is controlled to drive to a temporary stopping point and stops waiting until collision risk is eliminated, and then the transportation equipment continues to drive until the entrance target transportation equipment reaches the loading position and enters the loading state; the entrance target transportation equipment is the first entrance target transportation equipment in the entrance waiting list;

receiving self loading weight which is acquired and transmitted in real time in the loading operation process of the target transportation equipment in a loading state, and judging whether the target transportation equipment meets the field-leaving requirement or not;

if the target equipment meets the departure requirement, the target equipment is used as the departure target transportation equipment, and a departure instruction is generated according to the departure target transportation equipment identifier, the departure instruction identifier, the allocated loading position identifier, and the corresponding path point set and the right of way of the departure target transportation equipment exiting the loading area; sending an outgoing instruction to a transportation equipment platform;

sending an outgoing driving instruction to the outgoing transport equipment platform so that the transport equipment platform converts the state of the outgoing target transport equipment from a loading state to an outgoing driving state; controlling the departure target transportation equipment to travel outside the loading area or travel to a temporary stop point, stopping waiting until collision risk is eliminated and then exiting the loading area according to the departure travel instruction and the contents of the departure instruction;

updating the loading position state allocated to the departure target transportation equipment which exits the loading position into an idle state;

wherein, collision prediction is carried out according to the states of all the transportation devices participating in the cooperative work, and an entrance driving instruction or an exit driving instruction is sent based on the collision prediction result.

Further, before receiving an entrance request sent by a transportation equipment platform, initializing a loading position;

acquiring loading data and a path point set thereof in a loading area, and acquiring coordinates and course information of all transport equipment and loading equipment in the loading area;

updating the loading position state according to the coordinate and the heading information of all the transport equipment and the loading equipment, wherein the updating comprises the following steps: acquiring coordinates and courses of loading equipment and a bucket thereof as well as coordinates and courses of all transportation equipment participating in cooperative operation in real time; calculating coordinates of four vertexes of the enclosing boxes of the loading equipment and the transportation equipment according to the three-dimensional size of the loading equipment, the coordinates and the course of the current loading equipment and the bucket of the loading equipment, and the coordinates and the courses of all vehicles participating in the cooperative operation, judging whether the enclosing boxes of the loading equipment and the loading positions which are not allocated to the transportation equipment have intersection, and if the intersection exists, determining that the state of the loading positions is an occupied state;

if there is no intersection, the state of the load bit is updated to the idle load bit.

Still further, the coordinates and heading of the auxiliary vehicle other than the transport device and the loading device are also introduced when calculating the four-vertex coordinates of the bounding box of the device.

Further, initializing the loading bit specifically includes: judging whether a loading position exists in the loading area, if so, it is determined whether the loading location is within the loading range of the loading device, and if the loading area has no loading position or the loading position is not in the loading range of the loading equipment, resetting the loading position by the loading equipment, and finishing initializing the loading position.

Still further, the method for setting the loading position by the loading equipment comprises the following steps: the loading equipment stretches the bucket to a position needing loading, the position needing loading is set as a loading point, the position coordinates of the bucket tooth are calculated according to the positioning information of the loading equipment, a loading position is respectively generated on two sides of the loading equipment according to the position coordinates of the bucket tooth, and the position coordinates of four top points of the loading position are determined.

Further, if the target device is judged to meet the departure requirement, the departure instruction is sent only after the bucket is determined to leave the loading position by calculating the position relation between the bucket position and the loading position.

Further, allocating a free loading position for the target transportation device sending the admission request comprises:

setting paired loading equipment for the target transportation equipment;

judging whether idle loading positions exist in the loading range of the paired loading equipment or not;

if a free loading position is available, allocating the free loading position to the target transportation equipment;

if the left side and the right side of the loading equipment are judged to have one idle loading position respectively and can be used, acquiring a historical propelling track of the loading equipment, calculating the propelling direction of the loading equipment, extending a set distance along the propelling direction, connecting a starting point of the historical propelling track with a point extending the set distance, judging whether the position coordinate of a bucket of the loading equipment falls on the left side or the right side of the connecting line, if the position coordinate falls on the left side, allocating the idle loading position on the left side, and if the position coordinate falls on the right side, allocating the idle loading position on the right side.

Further, the cooperative work platform performs collision prediction according to the states of all the transportation devices participating in the cooperative work, and sends an entrance driving instruction or an exit driving instruction based on a collision prediction result, including:

judging whether all the transport equipment participating in the cooperative operation has transport equipment in an entrance driving state or an exit driving state, and if not, sending an entrance driving instruction or an exit driving instruction;

if so, acquiring a running path point set of the incoming target transportation equipment or the outgoing target transportation equipment according to the acquired coordinate and the acquired course of the incoming target transportation equipment, and determining a path point set which is not run by the incoming target transportation equipment; calculating whether a collision risk exists between the non-driving path point set and other transportation equipment in an entrance driving state or an exit driving state, and if the collision risk does not exist, sending an entrance driving instruction or an exit driving instruction;

if collision risk exists, sending an entrance driving instruction or an exit driving instruction, sending a temporary parking position point to entrance target transportation equipment, and recovering the road right of a collision risk road section; and after the collision risk is relieved, sending an entrance driving instruction or an exit driving instruction to the target transportation equipment again, and releasing the road right of the collision risk road section.

Further, in the process that the entry target transportation equipment drives to the loading position, collision prediction of the entry target transportation equipment and the driving track space of the loading equipment is also executed, and when collision risk is determined to exist through prediction, a parking instruction is sent to the transportation equipment platform, so that the transportation equipment platform controls the entry target transportation equipment to park; and when the predicted collision risk is relieved, sending an entrance driving instruction to the transportation equipment platform again.

Still further, the prediction of the spatial collision between the incoming transport equipment and the loading equipment comprises the following steps:

the real-time space position coordinates of the loading equipment and a bucket thereof, the traveling path point set of the entrance target transportation equipment and the three-dimensional size of the entrance target transportation equipment;

determining a running path point set of the incoming target transportation equipment within the range of the operating radius of the loading equipment;

and judging whether the loading equipment and the bucket thereof enter the operating radius range of the loading equipment or not according to the space position coordinates of the loading equipment and the bucket thereof, entering the three-dimensional space of the traveling path track of the target transportation equipment, and if so, having the risk of collision with the target transportation equipment within the operating radius range of the loading equipment.

Further, determining a set of corresponding path points of the target transport device sending the incoming request to the loading position allocated to the target transport device comprises: acquiring a path point set in a loading area;

acquiring the maximum operation radius of the loading equipment and the current position coordinates of the rotation center;

calculating a target transport equipment driving path point set within the safe operation radius of the loading equipment;

and generating a driving path space point set according to the three-dimensional size of the transportation equipment, the tracking error and the safety coefficient.

In a second aspect, the present invention provides a surface mine loading cooperative operation method, including: the method is applied to a transportation equipment platform, and comprises the following steps:

controlling target transport equipment participating in cooperative operation to drive into a designated position before a loading area, sending an entry request, entering an entry waiting state and entering an entry waiting queue, so that a cooperative operation platform allocates an idle loading position for the target transport equipment sending the entry request, and updates the allocated loading position state into an occupied state;

acquiring an entry instruction sent by the cooperative operation platform, wherein the entry instruction is generated by the cooperative operation platform according to a target transportation equipment identifier for sending an entry request, an entry instruction identifier, an allocated loading position identifier, a path point set corresponding to a path from the target transportation equipment for sending the entry request to the allocated loading position and a road right;

acquiring an entrance driving instruction sent by the cooperative operation platform, and enabling the entrance target transportation equipment to exit an entrance waiting list, wherein the state is converted from an entrance waiting state to an entrance driving state; controlling the entrance target transport equipment to travel to a loading position according to the entrance travel instruction and the entrance instruction content, or continuing to travel until the entrance target transport equipment reaches the loading position and enters a loading state after the entrance target transport equipment travels to a temporary stop point and stops waiting until the collision risk is eliminated, wherein the entrance target transport equipment is the first-to-enter target transport equipment in an entrance waiting list;

the target transportation equipment in the loading state acquires and transmits the self loading weight in real time in the loading operation process, and sends the self loading weight to the cooperative operation platform for judging whether the target transportation equipment meets the field-leaving requirement or not;

acquiring a departure instruction sent by a cooperative operation platform, wherein the departure instruction is generated by the cooperative operation platform according to a departure target transportation equipment identifier, a departure instruction identifier, an allocated loading position identifier, a corresponding path point set of departure target transportation equipment exiting a loading area and a right of way, and the departure target transportation equipment is target transportation equipment meeting a departure requirement;

acquiring an outgoing driving instruction sent by the cooperative operation platform, converting the state of outgoing target transport equipment from a loading state into an outgoing driving state, and controlling the outgoing target transport equipment to drive outside a loading area or to drive to a temporary stopping point to stop waiting until collision risks are eliminated and then to drive out of the loading area according to the outgoing driving instruction and the outgoing instruction content, so that the cooperative operation platform updates a loading position allocated for the outgoing target transport equipment of the outgoing loading position to an idle state;

and the entrance driving instruction and the exit driving instruction are both used for carrying out collision prediction on the cooperative operation platform according to the states of all the transport equipment participating in cooperative operation, and are sent according to collision prediction results.

And further, acquiring and transmitting the coordinate and course information of the target transportation equipment in real time, wherein the coordinate and course information is used for judging whether the loading position is an idle loading position or not by the cooperative operation platform according to the coordinate and course of all the target transportation equipment participating in cooperative operation and the coordinate and course of the loading equipment and the bucket thereof, or the coordinate and course information of the target transportation equipment by the cooperative operation platform is used for judging the collision risk.

In a third aspect, a loading coordination platform, comprising: the device comprises a parameter configuration module, a first communication module, a guide control module, a loading position management module and a position resolving and collision predicting module;

the parameter configuration module is used for initializing the loading position, acquiring loading position data and a path point set thereof in the loading area, acquiring coordinates and course information of all transport equipment and loading equipment in the loading area, and updating the state of the loading position according to the coordinates and the course information of all the transport equipment and the loading equipment;

the first communication module is used for carrying out information interaction with the transportation equipment platform;

the guiding control module is used for receiving an entrance request sent by target transportation equipment participating in cooperative operation through the first communication module, wherein the target transportation equipment drives to a designated position in front of the loading area, is in an entrance waiting state and joins in an entrance waiting queue;

the loading position management module is used for allocating idle loading positions for the target transportation equipment which sends the entrance request and updating the allocated loading positions into an occupied state;

the guidance control module is also used for generating an entrance instruction according to the identification of the target transport equipment sending the entrance request, the identification of the entrance instruction, the identification of the allocated loading position, the corresponding path point set from the target transport equipment sending the entrance request to the allocated loading position and the right of way; sending the entrance instruction to a transportation equipment platform through a first communication module;

the guidance control module is further used for sending an entrance running instruction to the transportation equipment platform through the first communication module so that the transportation equipment platform can enable the entrance target transportation equipment to exit the entrance waiting list, the state is converted from the entrance waiting state to the entrance running state, the transportation equipment platform controls the entrance target transportation equipment to run to the loading position according to the entrance running instruction and the entrance instruction content, or the entrance target transportation equipment runs to a temporary stopping point and stops waiting until collision risks are eliminated, the entrance target transportation equipment continues to run until the entrance target transportation equipment reaches the loading position and enters the loading state, and the entrance target transportation equipment is the target transportation equipment which enters the entrance waiting list most first;

the guide control module is also used for receiving the self loading weight which is collected and transmitted in real time in the loading operation process of the target transportation equipment in the loading state through the first communication module and judging whether the requirement of the target transportation equipment on leaving the factory is met or not; if the target equipment meets the departure requirement, the target equipment is used as the departure target transportation equipment, and a departure instruction is generated according to the departure target transportation equipment identifier, the departure instruction identifier, the allocated loading position identifier, the corresponding path point set of the departure target transportation equipment exiting the loading area and the right of way; sending an outgoing instruction to a transportation equipment platform;

sending an outgoing driving instruction to the transportation equipment platform so that the transportation equipment platform converts the state of the outgoing target transportation equipment from a loading state to an outgoing driving state; the transportation equipment platform controls the departure target transportation equipment to travel outside the loading area or travel to a temporary stop point, stop waiting until collision risk is eliminated and then exit the loading area according to the departure travel instruction and the departure instruction content;

the loading position management module is used for updating the loading position allocated to the outbound target transport equipment which is out of the loading position to an idle state after the outbound target transport equipment is out of the loading area;

the position calculating and collision predicting module is used for performing collision prediction according to the states of all the transport equipment participating in the cooperative operation;

and the guiding control module is used for sending an entrance driving instruction or an exit driving instruction through the first communication module based on the collision prediction result.

In a fourth aspect, the invention provides a transportation device platform comprising a second communication module and an unmanned control system; the second communication module is used for carrying out information price interaction with the loading cooperation platform;

the unmanned control system is used for controlling target transport equipment participating in cooperative operation to drive into a designated position before a loading area, enter an entry waiting state and enter an entry waiting list, and sending an entry request of the target transport equipment through the second communication module, so that a cooperative operation platform completing initialization parameter configuration allocates an idle loading position for the target transport equipment sending the entry request, and updates the allocated loading position to an occupied state; the cooperative operation platform completes initialization parameter configuration and comprises the following steps: initializing a loading position, acquiring loading position data and a path point set thereof in a loading area, acquiring coordinates and course information of all transport equipment and loading equipment in the loading area, and updating the state of the loading position according to the coordinates and the course information of all the transport equipment and the loading equipment;

acquiring an entry instruction sent by the cooperative operation platform through a second communication module, wherein the entry instruction is generated by the cooperative operation platform according to a target transportation equipment identifier sending an entry request, an entry instruction identifier, an allocated loading position identifier, a corresponding path point set from the target transportation equipment to the allocated loading position and a right of way;

the unmanned control system is used for acquiring an entrance driving instruction sent by the cooperative operation platform through the second communication module, converting the state of the entrance target transportation equipment from an entrance waiting state to an entrance driving state and exiting the entrance waiting list; controlling the entry target transportation equipment to travel to the loading position or to a temporary stopping point, stopping waiting until collision risk is eliminated, then traveling to the loading position and entering a loading state according to the entry traveling instruction and the entry instruction content; the entrance target transportation equipment is the target transportation equipment which enters the entrance waiting list firstly;

the target transportation equipment in the loading state acquires and transmits the loading weight of the target transportation equipment in real time in the loading operation process, and the target transportation equipment is used for judging whether the target transportation equipment meets the departure requirement or not by the cooperative operation platform so as to determine whether a departure instruction is sent or not;

acquiring a departure instruction sent by the cooperative operation platform through a second communication module, and generating according to a departure target transportation equipment identifier, a departure instruction identifier, an allocated loading position identifier, a corresponding path point set and a road right of departure target transportation equipment exiting a loading area; the departure target transportation equipment is target transportation equipment meeting the departure requirement;

through a second communication module, acquiring a departure driving instruction sent by the cooperative operation platform, converting the state of the target transportation equipment from a loading state to a departure driving state, and controlling the target transportation equipment to drive outside a loading area or to drive to a temporary stop point to stop waiting until collision risk is eliminated and then to drive out of the loading area according to the departure driving instruction and the contents of the departure instruction, so that the cooperative operation platform updates a loading position allocated for the departure target transportation equipment driving out of the loading position to an idle state;

In a fifth aspect, the invention provides a surface mine loading cooperative operation system, which comprises a transportation equipment platform and a loading cooperative platform; the loading coordination platform is as described in any one of the possible embodiments of the third aspect, and the transportation device platform is as described in any one of the possible embodiments of the fourth aspect.

In a sixth aspect, the present invention provides a computer storage medium, wherein the computer storage medium stores a computer program, and the computer program is executed by a processor to execute the surface mine loading cooperative operation method according to any one of the possible embodiments of the first aspect or the second aspect.

The invention has the following beneficial technical effects:

the invention can solve the problem of lower efficiency of multi-vehicle loading cooperative operation in the unmanned transportation system of the surface mine, realize automatic guidance of multiple vehicles, reduce the labor intensity of drivers and improve the utilization rate of loading equipment, thereby improving the loading cooperative operation efficiency in an operation area.

The loading equipment can be provided with two loading positions at the same time, and the technical problem that the loading cooperative operation efficiency of the excavator cannot be fully exerted because the existing multi-vehicle cooperative operation method only has one loading position scene in an operation area is solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a flow chart of a surface mine double-side loading cooperative operation method according to an embodiment of the invention;

FIG. 2 is a schematic block diagram of a surface mine loading cooperative operation system according to an embodiment of the present invention;

FIG. 3 is a cooperative flow chart of entrance in the method for cooperative double-side loading operation of a surface mine according to an embodiment of the present invention;

FIG. 4 is a flowchart of a truck and loader collision prediction during a strip mine bilateral loading cooperative work entry guidance process according to an embodiment of the present invention;

FIG. 5 is a flow chart of the cooperation of the two-sided loading operation method for the surface mine according to the embodiment of the present invention;

FIG. 6 is a schematic flow chart of the operation of the surface mine dual-side loading cooperative operation system according to the embodiment of the invention; wherein (a) is a schematic diagram of a process; (b) is a schematic diagram of the second scheme; (c) is a schematic view of the third process; (d) is a schematic diagram of the fourth process; (e) is a schematic diagram of the fifth process; (f) is a six-schematic flow diagram; (g) is a schematic diagram of the seventh process.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

Example 1

The method is applied to a loading cooperative platform, and the loading cooperative platform can be arranged in a control background and is communicated with loading equipment; or on a loading device, such as a shovel, an electric forklift, etc.;

the method comprises the following steps:

s100: as shown in fig. 1, after starting, optionally, initializing the loading bit specifically includes: and judging whether a loading position exists in the operation area, if so, further judging whether the loading position is in the loading range of the loading equipment (the loading equipment in the embodiment is the excavator), and if not, prompting the loading equipment to reset the loading position until the initialization of the loading position is completed.

Optionally, the method for setting the loading position by the loading device includes: a driver of the excavator extends the bucket to a position needing loading according to the on-site working condition, clicks a loading point on a human-computer interface, and calculates the position coordinates of the bucket teeth of the bucket according to the positioning information of loading equipment; and respectively generating a loading position on two sides of the loading equipment according to the position coordinates of the bucket teeth, and determining the position coordinates of four top points of the loading position.

Alternatively, in other embodiments, if there is a loading position and within the loading range of the loading device, it is further determined whether there is a left side or a right side of the excavator, and if there is a loading position only on one side of the loading device, a loading position is set on the other side of the loading device (excavator) that is free, the method includes: a driver of the excavator extends the bucket to a position needing loading according to the on-site working condition, clicks a loading point on a human-computer interface, and calculates the position coordinates of the bucket teeth of the bucket according to the positioning information of loading equipment; and generating a loading position on the free side of the loading equipment according to the position coordinates of the bucket teeth, and determining the position coordinates of four top points of the loading position.

S200: gather loader position appearance information in real time, update and load a position state, include:

the loading position data in the operation area (namely the loading area) comprises four-vertex position coordinates of each loading position, the loading equipment broadcasts self-pose information at a certain frequency, the pose information of the loading equipment is collected in real time, and the method for updating the loading position state is to collect position coordinates and headings of transportation equipment (in the embodiment, the transportation equipment adopts a truck), the loading equipment and a bucket thereof in the operation area range, calculate the four-vertex coordinates of each equipment enclosure box according to the three-dimensional sizes of the loading equipment and the transportation equipment in the operation area and the current position coordinates and headings, further judge whether the equipment enclosure box and the loading position have intersection, if so, the loading position is occupied, and update the state of the loading position; and after the loading position is occupied, the equipment leaves the loading position, and does not intersect with the loading position, so that the loading position is released, and the state of the loading position is updated to be in an idle state.

In other embodiments, if there are other auxiliary vehicles in the work area, optionally, the coordinates and heading of the auxiliary vehicles other than the transport equipment and the loading equipment are also introduced when calculating the four-vertex coordinates of the equipment bounding box. In the unmanned transport system for the surface mine, the transport equipment (such as a truck) is in an unmanned state, the loading equipment and the auxiliary vehicle are manned, and the bilateral loading cooperative operation refers to cooperative loading operation of the loading equipment and a plurality of unmanned transport equipment in an operation area. The auxiliary vehicle usually assists to maintain the leveling of the road and the loading position in the operation area according to the field condition, when the loading position is leveled on the road, the surrounding box of the auxiliary vehicle intersects with the loading position, the loading position is occupied, the state of the loading position is updated to be in an occupied state, when the equipment leaves the loading position after completing the operation, namely the surrounding box of the equipment does not intersect with the area of the loading position, the loading position is released, and the occupied state is updated to be in an idle state.

S300: as shown in fig. 3, an admission request sent when the truck travels to a certain range (which may be a range specified in front of the work area) from the work area is obtained, and at this time, the truck is in an admission waiting state and joins in an admission waiting queue; inquiring the state of the loading position, distributing an idle loading position and a corresponding path point set and a road right thereof for the truck sending the admission request, and updating the state of the distributed loading position into an occupied state; generating an entrance instruction according to the identification of the target transport equipment (the ID of the transport equipment sending the entrance request), the identification of the entrance instruction, the identification of the allocated loading position (the ID of the loading position) and the corresponding path point set and right of the target transport equipment to the allocated loading position; sending an entrance instruction to a transportation equipment platform; alternatively, the state of the loading device is updated from the standby state to the entry guidance state.

Optionally, allocating a free loading position for the target transportation device sending the admission request includes: setting paired loading equipment for the target transportation equipment;

judging whether an idle loading position exists in the loading range of the paired loading equipment;

Optionally, determining a set of corresponding path points of the target transportation device sending the admission request to the loading position allocated to the target transportation device comprises: acquiring a path point set in a loading area;

calculating a target transportation equipment driving path point set within the safe operation radius of the loading equipment;

In this embodiment, the cooperative operation state is a general name given to the operation state of each device after the cooperative operation task is interacted between the truck and the loading device within the operation area, and specifically, the cooperative operation state of the loading device includes an entry guidance state, a loading state, and an exit guidance state; the loading equipment can have two cooperative operation states; the cooperative operation states of the trucks comprise an entrance waiting state, an entrance driving state, a loading state and an exit driving state, and each truck only has one cooperative operation state at any time;

s400: controlling the trucks to drive into the loading positions according to the states of all the trucks participating in the cooperative operation and the collision prediction results; the method comprises the following steps:

acquiring a loading equipment cooperative operation state list, judging whether a truck in an entrance driving state or an exit driving state exists, if not, sending an entrance driving instruction to enable a transportation equipment platform to enable target transportation equipment (namely, entrance target transportation equipment, in the embodiment, an entrance target truck) which enters an entrance waiting queue to exit the entrance waiting queue to be used as entrance target transportation equipment, updating the state from the entrance waiting state to the entrance driving state, optionally adding the state of the exit target transportation equipment into the cooperative operation state list, and controlling the truck to drive into an operation area along an entrance path point set by the loading equipment platform; optionally, the truck is controlled to drive into the loading bay based on a prediction of a collision between the truck and the excavator.

The method for predicting the collision between the transportation equipment (truck) and the loading equipment (excavator) comprises the following steps:

acquiring real-time pose information (including real-time position coordinates of a truck in an operation area), a current truck driving path point set and three-dimensional dimensions of the truck of the excavator and a bucket of the excavator, and calculating the truck driving path point set contained in the operation radius range of the excavator; further, according to the space position coordinates of the excavator and the bucket thereof, judging whether the excavator and the bucket thereof invade a three-dimensional space of a truck driving path track within the operation radius range of the excavator or not, if so, having a collision risk within the operation radius range of the excavator, stopping the truck at the nearest path point within the operation radius range of the excavator by the control card, and when the excavator or the bucket leaves the three-dimensional space of the truck driving path track, removing the risk, continuously driving the truck, driving the truck into the operation radius range of the excavator, if so, controlling the truck to stop, continuously driving the truck until the truck enters a loading position, and changing the entrance guiding state into the loading state in cooperative operation;

if there is a transportation device (such as a truck) in either an incoming driving state or an outgoing driving state,

acquiring a running path point set of the entry target transportation equipment or the exit target transportation equipment according to the acquired coordinate and the course of the entry target transportation equipment, and determining a path point set which is not run by the entry target transportation equipment (an entry truck); calculating whether a collision risk exists between the non-driving path point set and other transportation equipment (trucks) in an entrance driving state or an exit driving state, and if the collision risk does not exist, sending an entrance driving instruction or an exit driving instruction;

Optionally, in the process that the entry target transportation equipment travels to the loading position, collision prediction of the entry target transportation equipment and the traveling track space of the loading equipment is further executed, and when collision risk is determined to exist through prediction, a parking instruction is sent to the transportation equipment platform, so that the transportation equipment platform controls the entry target transportation equipment to park; and when the predicted collision risk is relieved, sending an entrance driving instruction to the transportation equipment platform again.

The method for predicting the collision between the truck and the truck comprises the following steps:

acquiring current pose information of a truck and a set of path points which are not driven under the current on-site driving or off-site driving collaborative operation state of the truck, calculating a road section with collision risk between the two paths, generating a temporary stop point of the section of the collision risk road, controlling the road section with the collision risk, firstly enabling the truck in the on-site driving or off-site driving state to have a priority driving right on the collision risk road section, controlling the truck which is driven later to stop at the temporary stop point for waiting, and recovering the road right of the collision risk road section; and after the truck with high driving priority drives out of the collision risk road section, controlling the driven truck to drive into the collision risk road section, and removing the control on the collision risk road section.

The loading positions are frequently updated along with the excavation propulsion of loading equipment in an operation area, and the local paths of entrance and exit corresponding to the loading positions are also updated, so that the dynamic collision prediction needs to be carried out according to the path point set corresponding to the loading positions occupied by specific trucks in the collision prediction of the trucks in the operation area, and when the trucks enter the loading area, the collision prediction is carried out on the trucks and the existing trucks in the operation area by the cooperative operation system; after the truck meets the departure condition, the cooperative operation system carries out collision prediction on the truck and the existing trucks in the operation area according to the cooperative operation state of other trucks in the operation area.

S500: as shown in fig. 5, during the loading operation, the truck load and the bucket position are collected to determine the departure condition; acquiring a truck load threshold, acquiring the truck load capacity and the position of a loading equipment bucket in real time, judging the load after loading a bucket material, further judging the spatial position relation between the bucket and the current loading position of the truck if the truck load threshold is reached, and enabling the truck to meet the automatic departure condition if the bucket leaves the loading position, and taking the truck as the departure target transportation equipment.

And generating the departure instruction according to the departure target transportation equipment identifier, the departure instruction identifier, the allocated loading position identifier, and the corresponding path point set and the right of way of the departure target transportation equipment exiting the loading area.

In this embodiment, the triggering manner for generating each instruction (the entering instruction, the entering traveling instruction, the leaving instruction, and the leaving traveling instruction) may be set to be automatic triggering or manual triggering, and the triggering instruction is generated after the automatic triggering or the manual triggering, and each instruction is generated according to the triggering instruction.

Optionally, when the automatic departure condition is not met, detecting the trigger instruction in real time, and if the trigger instruction exists, forcing the truck to meet the departure condition, that is, generating the departure instruction according to the departure target transportation equipment identifier (transportation equipment ID), the allocated loading position identifier (loading position ID), the departure instruction identifier, and the corresponding path point set and right from the departure target transportation equipment to the allocated loading position.

S600: sending an outgoing instruction to a target truck, and updating the cooperative operation state of the loading equipment to the truck from a loading state to an outgoing guide state;

then controlling the truck to move out of the operation area according to the cooperative operation state and the collision prediction result to finish cooperative operation; the method comprises the following steps:

after the cooperative operation system judges that the trucks meet the departure conditions, acquiring a truck cooperative operation state list, judging whether the trucks in the departure driving state or the departure driving state exist, if not, sending a departure driving instruction, controlling the target trucks to leave the operation area along the departure path point set, updating the truck cooperative operation state from the loading state to the departure driving state,

if there is a truck in the on-coming driving state or the off-coming driving state, controlling the truck to drive out of the operation area further according to the collision prediction result of the truck and the truck, and finishing the cooperative operation control of the truck by the loading equipment;

in the process of driving the truck out of the field, acquiring pose information of the truck in real time, calculating the position relation between a truck bounding box and a corresponding loading position, if the two do not have intersection, driving the truck away from the loading position, updating the state of the loading position, and updating the occupied state into an idle state;

the method provided by the embodiment further comprises parameter setting and loading bit initialization; and acquiring loading bit data and a path point set thereof in the operation area, acquiring the position coordinates of the equipment in real time, and updating the state of the loading bit.

The loading bit states include idle, occupied and unavailable; the load bit idle state represents an unoccupied state by the device; the occupied state of the loading position represents the state that the loading position is allocated to the transportation equipment or the loading position and the equipment bounding box have intersection and cannot be allocated; the unavailable state is that the loading bit is not in the loading range or the unavailable state is set manually. The truck runs in a non-operation area and is in a running state; and the cooperative operation state is entered only when the excavator performs cooperative operation. And when the mine truck exits from the operation area, ending the cooperative operation state, canceling the departure driving state and changing the truck into the driving state. After the mine card exits from the operation area, the loading equipment finishes the departure guiding state of the vehicle, and the loading equipment becomes the standby state.

For the loading equipment, updating the standby state into the entry guiding state after sending the entry instruction;

when the truck reaches a loading position, the loading equipment is updated from the entrance guide state to the loading state;

and (3) sending an outgoing instruction: updating the loading state into the departure guiding state;

when the truck exits the work area, the cooperative work state of the loader with respect to the truck disappears.

Correspondingly, after the truck sends an entrance request, the running state is updated to an entrance waiting state; after the entering driving instruction is obtained, updating the cooperative operation state of the truck from the entering waiting state to the entering driving state; when the truck drives into the loading position, the cooperative operation state of the truck is updated from the on-site driving state to the loading state; after the truck receives the departure driving instruction, updating the cooperative operation state of the truck from the loading state to the departure driving state; when the mine truck exits from the operation area, the cooperative operation state is ended, the departure driving state is cancelled, and the truck becomes the driving state;

the mine card exits from the operation area, the loading equipment finishes the departure guiding state of the vehicle, and the loading equipment becomes the standby state.

The invention can solve the problem of lower efficiency of multi-vehicle loading cooperative operation in the unmanned transportation system of the surface mine, realize automatic guidance of multiple vehicles, reduce the labor intensity of drivers, and improve the utilization rate of loading equipment, thereby improving the loading cooperative operation efficiency in an operation area.

Example 2

The surface mine loading cooperative operation method is applied to a transportation equipment platform and comprises the following steps:

controlling target transport equipment participating in cooperative operation to drive into a designated position before a loading area, sending an entrance request, entering an entrance waiting state and joining an entrance waiting queue, so that a cooperative operation platform allocates an idle loading position for the target transport equipment sending the entrance request, and updates the allocated loading position state into an occupied state;

And further, acquiring and transmitting the coordinate and course information of the target transportation equipment in real time, wherein the coordinate and course information is used for judging whether the loading position is an idle loading position or not by the cooperative operation platform according to the coordinate and course of all the target transportation equipment participating in the cooperative operation and the coordinate and course of the loading equipment and the bucket thereof, or the coordinate and course information of the target transportation equipment is used for judging the collision risk by the cooperative operation platform.

Example 3: as shown in fig. 2, the loading coordination platform 90 includes: a parameter configuration module 902, a first communication module 908, a guidance control module 906, a loading position management module 904, and a position calculation and collision prediction module 910;

the parameter configuration module 902 is configured to initialize the loading position, obtain loading position data and a path point set thereof in the operation area, acquire coordinates and heading information of all transportation devices and loading devices in the operation area, and update the state of the loading position according to the coordinates and heading information of all the transportation devices and the loading devices;

the first communication module 908 is configured to perform information interaction with a transportation device platform;

the loading position management module is used for allocating idle loading positions for the target transport equipment which sends the entrance request and updating the allocated loading positions into an occupied state;

sending an outgoing driving instruction to the transportation equipment platform so that the transportation equipment platform converts the state of the outgoing target transportation equipment from a loading state to an outgoing driving state; the transportation equipment platform controls the departure target transportation equipment to drive outside the loading area or drive to a temporary stopping point and stop waiting until collision risks are eliminated and then drive out of the loading area according to the departure driving instruction and the contents of the departure instruction;

Optionally, the loading collaboration platform 90 further includes a human-computer interaction module 912 configured to set a loading location, display a loading location state, display a collaboration operation state, and guide manual entry and exit.

Example 4

As shown in fig. 2, a transport equipment platform 70 includes a second communication module 808 and an unmanned control system 810; the second communication module 808 is configured to perform information price interaction with the loading coordination platform;

the second communication module is used for carrying out information price interaction with the loading cooperation platform;

the unmanned control system is used for controlling target transport equipment participating in cooperative operation to enter a designated position before entering a loading area, enter an entry waiting state and join an entry waiting list, and sending an entry request of the target transport equipment through the second communication module, so that a cooperative operation platform completing initialization parameter configuration allocates an idle loading position for the target transport equipment sending the entry request, and updates the allocated loading position to an occupied state; the cooperative operation platform completes initialization parameter configuration and comprises the following steps: initializing a loading position, acquiring loading position data and a path point set thereof in a loading area, acquiring coordinates and course information of all transport equipment and loading equipment in the loading area, and updating the state of the loading position according to the coordinates and the course information of all the transport equipment and the loading equipment;

Example 5

The surface mine loading cooperative operation system comprises the transportation equipment platform and a loading cooperative platform provided by the embodiment.

Example 6

With reference to a preferred embodiment, as shown in fig. 6, a hydraulic excavator is taken as an example to describe a surface mine bilateral loading cooperative operation process, and the specific steps are as follows:

as shown in fig. 6 (a), the two-sided loading operation area of the unmanned surface mine transportation system comprises a loading area 100, an excavator operation platform boundary 101, a structured road 110, an exit point 111, an exit path 112, an excavator propulsion trajectory 113, an entry path 114, an entry point 115, a left loading position 120 and a right loading position 121; usually, a platform needs to be built when a hydraulic excavator carries out shovel loading operation, the self loading height is improved, and the loading operation of a truck is facilitated.

As shown in fig. 6 (a): setting parameters and calibrating in a parameter configuration module 902, setting the type of bilateral loading (loading equipment and transportation equipment), the entrance guide mode as an automatic trigger mode, the exit guide mode as an automatic trigger mode, the three-dimensional size of the excavator and the operation radius of the excavator to be obtained and calibrated by opening an excavator arm to the maximum; automatically synchronizing the three-dimensional size and load threshold of the coordinated truck;

after the loading equipment is started, the loading position management module detects whether a loading position exists in the operation area, if not, the resetting of the loading position is prompted, if the loading position exists, the position resolving and judging module further judges whether the loading position is in the loading range of the excavator, if not, the human-computer interaction interface prompts the resetting of the loading position, and if so, a path point set in the loading area is obtained. The method for setting the loading positions comprises the steps that a shovel driver stretches a bucket to a position needing loading according to site working conditions and clicks a loading point on a human-computer interface, a loading position management module generates two loading positions according to position coordinates of bucket teeth of the bucket calculated by a position calculation module, and a local path of the loading positions is obtained;

acquiring loading bit data and a path point set thereof in an operation area, acquiring equipment pose information, and updating the state of a loading bit, wherein only an excavator is arranged in the current operation area, and the body of the excavator does not occupy the loading bit, so that two loading bits in an idle state exist in the operation area;

when the unmanned truck 70 travels to the entry point 115 for a certain distance, an entry request is sent to enter an entry waiting state, after the excavator obtains the entry request, the state of loading positions in an operation area is inquired, the pre-allocation of the loading positions is carried out according to the states of the loading positions and the positions of buckets, as can be seen from the figure, at this time, two loading positions in the loading operation area are in an idle state, the loading positions further fall on the right side of an excavator propelling track line 113 according to the current position of the bucket 61, the loading positions 121 on the right side are pre-allocated to the truck 70, and the pre-allocated loading positions 121 are marked to be thickened or highlighted on a man-machine interaction interface 912, so that a driver of the excavator is prompted to automatically allocate the loading positions 121 to the truck 70 to be entered by the current loading cooperative operation system 90;

determining a set of corresponding path points and road rights for the target transport device to the assigned loading bay, and assigning the path 114 to the truck 70;

further, according to the configured automatic entry guide mode, loading position allocation results and automatically generating entry instructions, wherein the entry instructions at least comprise pre-allocated loading positions 121, entry instruction marks and corresponding truck 70 information; the state of the load bit 121 changes from idle to occupied; generating an entrance instruction according to the target transport equipment identifier, the allocated loading position identifier, and a corresponding path point set and a right of way from the target transport equipment to the allocated loading position; sending an incoming order to the truck 70;

further, acquiring a cooperative operation state, and judging whether an entry driving state or an exit driving state exists in the operation area 100, wherein no truck in the entry driving state or the exit driving state exists in the operation area, sending an entry driving instruction to the truck 70, after the truck 70 receives the entry driving instruction to check the error, the truck 70 stops at the entry point without decelerating to wait, judging that the truck passes through the entry point 115 according to the position coordinates, and driving the truck into the operation area along the entry path 114, wherein the cooperative operation state of the truck is updated to the entry driving state from the entry waiting state;

as shown in fig. 6 (b): the truck 70 drives into the loading position 121 along the entrance path 114 after the collision prediction of the truck and the excavator, the cooperative operation state of the excavator 60 to the truck 70 is changed from the entrance guiding operation state to the loading state, the excavator 60 starts loading operation to the truck 70, and the cooperative operation state of the truck 70 is updated from the entrance driving state to the loading state;

at this time, the truck 71 drives to the vicinity of the entry point 115, and enters an entry waiting state by sending an entry request, after the excavator 60 acquires the entry request, the state of the loading positions in the working area is inquired, the loading positions are pre-allocated according to the states of the loading positions, as can be seen from the figure, only the left loading position 120 in the working area 100 is in an idle state, the left loading position 120 is pre-allocated to the truck 71, and the pre-allocated loading position 120 is marked to be thickened or highlighted on the man-machine interaction interface 912;

further, according to the configured automatic entry guidance mode, loading bit allocation results generate entry instructions, and the loading bits 120 change from an idle state to an occupied state;

further, acquiring a cooperative operation state, judging whether a truck in an entrance driving state or an exit driving state exists in the operation area 100, if the truck in the entrance driving state or the exit driving state does not exist in the operation area, sending a control command to the truck 71, after the truck 71 receives the driving command to check, driving the truck into the operation area along an entrance path, and updating the cooperative operation state of the truck 72 from an entrance waiting state to an entrance driving state;

as shown in fig. 6 (c): the excavator 60 continues to load the unmanned truck 70 with the materials and makes a departure condition judgment; acquiring a load threshold value of the truck 70, acquiring the load weight of the truck 70 in real time, loading the position of a bucket of the equipment 60, judging the load after loading a bucket material, further judging the spatial position relation of the bucket 61 and the current loading position of the truck if the load threshold value of the truck is reached, and enabling the truck 70 to meet the automatic departure condition if the bucket 61 leaves the loading position 121;

the truck 71, following the entry path 114, undergoes prediction of a collision with the excavator until it enters the loading location 120 and waits for loading work of the excavator 60 in the loading location 120; the cooperative operation state of the excavator 60 on the truck 71 is changed from the entry guide operation state to the loading state, and the cooperative operation state of the truck 71 is updated from the entry driving state to the loading state;

when the unmanned truck 72 travels to the entry point 115 for a certain distance, the excavator 60 sending the entry request obtains the entry request, and then pre-allocates loading positions according to the loading position state of the working area, as can be seen from the figure, the two loading positions are occupied, no idle loading position is pre-allocated, and then the unmanned truck 72 waits for queuing outside the loading area and sends the entry request according to a certain frequency;

as shown in fig. 6 (d): after the truck 70 meets the departure condition, reminding a driver of the excavation in cooperation with a man-machine interaction interface of the operation system, finishing the loading operation of the truck 70 by the driver of the excavation, and sending a departure instruction to the truck 70; meanwhile, the cooperative operation state of the excavator 60 on the truck 70 is updated from the loading state to the departure guiding state;

the excavator begins to load material to the truck 71 on the other side which is parked on the loading position 120;

further, acquiring a coordinated operation state list of all trucks in the operation area, judging whether a truck in an on-site driving state or an off-site driving state exists, if the truck in the on-site driving state or the off-site driving state does not exist except the truck 70 in the figure, sending an off-site driving instruction to the truck 70, after the truck 70 receives the off-site driving instruction and checks the error, starting to drive along the off-site path 112, and updating the loading state of the truck 70 in a coordinated operation state to the off-site driving state; in the process of driving the truck 70 out of the field, acquiring pose information of the truck 70 in real time, calculating the position relation between the truck bounding box and the corresponding loading position 121, judging whether the two boxes are intersected or not, if the two boxes are intersected, indicating that the truck 70 is driven away from the loading position 121, and further updating the state of the loading position;

the truck 72 continues to queue outside the work area 100;

as shown in fig. 6 (e), the truck 70 moves away from the loading position 121, and updates the loading position state from the occupied state to the idle state;

the cooperative operation system receives an entrance request of the truck 72, allocates the idle loading position 121 and the corresponding path point set and road right thereof to the truck 72, the state of the loading position 121 is updated from idle to occupied, the truck 72 receives an entrance instruction, the excavator 60 starts entrance cooperation on the truck 72, and the cooperative operation state of the truck 72 is an entrance guiding state;

further, acquiring a cooperative operation state list in the operation area 100, and determining whether an entrance driving state or an exit driving state exists, wherein a truck 70 in the exit driving state exists in the operation area;

further, a departure path point set which is not driven by the truck 70 is obtained, an entry path point set which is not driven by the truck 72 is obtained, a collision risk section is calculated according to safe driving radiuses of the two trucks, a black line segment 155 in the figure is a collision risk section, safe first temporary stop point 150, second temporary stop point 151, third temporary stop point 152 and fourth temporary stop point 153 before the collision risk section are generated,

sending a departure driving instruction and coordinates of a temporary stopping point 150 to the mine card 72, wherein the selection principle of the temporary stopping point is the temporary stopping point which is on the current truck driving path point set and is closest to the current truck; updating the cooperative operation state, wherein the cooperative operation state of the truck 72 is updated from the entry waiting state to an entry driving state, and the truck 72 enters into the entry driving state and stops at the temporary stopping point 150 for waiting; collecting the pose information of the truck 70 in real time and judging whether the truck drives away from the collision risk road section 155 area;

the excavator 60 continues loading operation for the truck 71 and judges the leaving condition;

as shown in fig. 6 (f): the excavator 60 continues loading operation for the truck 71 and judges the leaving condition;

after the truck 70 drives out of the collision risk road section 155 area, the road right of the collision risk road section is released, the cooperative operation system sends an entrance driving instruction to the truck 72, the mine card 72 continues to drive along an entrance path after receiving the entrance driving instruction, and after the truck drives into the collision risk road section 155 area, the system cancels the control of the collision risk road section, namely deletes the collision risk road section 155, the first temporary stop point 150, the second temporary stop point 151, the third temporary stop point 152 and the fourth temporary stop point 153;

as shown in fig. 6 (g): the excavator 60 continues to load materials to the unmanned truck 71, and the departure condition is judged;

the truck 70 runs along the departure path 112, the real-time pose information of the truck 70 is compared with the position coordinates of the departure point 111, when the distance between the two is smaller than a threshold value, the truck exits from the operation area, the loading equipment finishes the cooperative operation control of the truck, and the truck 70 exits from the departure running state;

the truck 72 continues to travel along the entry path 115 until the truck enters the loading position 121 through prediction of collision between the truck and the excavator, the cooperative operation state of the excavator 60 on the truck 72 is changed from the entry guide operation state to the loading state, and the cooperative operation state of the truck 72 is updated from the entry travel state to the loading state;

when the truck 74 travels to the entry point 115 for a certain distance, an entry request is sent, after the excavator 60 obtains the entry request, the state of the loading positions in the working area is inquired, the loading positions are pre-allocated according to the state of the loading positions, as can be seen from the figure, at this time, two loading positions in the loading working area are occupied, no idle loading position is allocated to the truck 74, and the truck 74 waits for queuing outside the loading area 100 and sends the entry request according to a certain frequency.

And repeating the steps a-g in the bilateral loading cooperative operation cycle process until the loading position is not suitable for loading operation, initializing the loading position, and starting a new bilateral loading cooperative operation cycle until shift change, overhaul or mining reaches a boundary.

The invention realizes automatic guidance of multiple vehicles, reduces the labor intensity of drivers, and improves the utilization rate of loading equipment, thereby improving the loading cooperative operation efficiency in an operation area.

Example 7

The embodiment of the application discloses a computer storage medium, wherein a computer program is stored in the computer storage medium, and the computer program is executed by a processor to execute the open mine loading cooperative operation method disclosed in the embodiment 1 and the embodiment 1 of the application.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While the present invention has been described with reference to the particular illustrative embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalent arrangements, and equivalents thereof, which may be made by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The surface mine loading cooperative operation method is characterized by comprising the following steps: the method is applied to loading the collaboration platform, and comprises the following steps:

receiving an entrance request sent by target transportation equipment participating in cooperative operation, wherein the target transportation equipment drives to a designated position in front of a loading area, is in an entrance waiting state and is added into an entrance waiting list;

distributing idle loading positions for target transport equipment sending the entrance request, and updating the distributed loading positions into an occupied state; generating an entrance instruction according to the identification of the target transport equipment sending the entrance request, the identification of the entrance instruction, the identification of the allocated loading position, the corresponding path point set from the target transport equipment sending the entrance request to the allocated loading position and the right of way; returning and sending an entrance request to the transportation equipment platform;

sending an entrance driving instruction to the transportation equipment platform so that the transportation equipment platform enables the entrance target transportation equipment to exit the entrance waiting list, the state is converted from an entrance waiting state to an entrance driving state, and the entrance target transportation equipment is controlled to drive to the loading position according to the entrance driving instruction and the entrance instruction content, or the entrance target transportation equipment is controlled to drive to a temporary stopping point and stops waiting until collision risk is eliminated, and then the transportation equipment continues to drive until the entrance target transportation equipment reaches the loading position and enters the loading state; the entrance target transportation equipment is the target transportation equipment which enters the entrance waiting list firstly;

if the target equipment meets the departure requirement, the target equipment is used as the departure target transportation equipment, and a departure instruction is generated according to the departure target transportation equipment identifier, the departure instruction identifier, the allocated loading position identifier, the corresponding path point set of the departure target transportation equipment exiting the loading area and the right of way; sending an outgoing instruction to a transportation equipment platform;

sending an outgoing driving instruction to the outgoing transport equipment platform so that the transport equipment platform converts the state of the outgoing target transport equipment from a loading state to an outgoing driving state; controlling the outbound target transportation equipment to drive outside the loading area or drive to a temporary stop point, stopping waiting until collision risks are eliminated and then driving out of the loading area according to the outbound driving instruction and the outbound instruction content;

2. The surface mine loading cooperative operation method according to claim 1,

before receiving an entrance request sent by a transportation equipment platform, initializing a loading position, including;

updating the loading position state according to the coordinate and the heading information of all the transport equipment and the loading equipment, wherein the updating comprises the following steps: acquiring coordinates and courses of loading equipment and a bucket thereof as well as coordinates and courses of all transportation equipment participating in cooperative operation in real time; calculating coordinates of four vertexes of the enclosing box of the loading equipment and the transportation equipment according to the three-dimensional size of the loading equipment, the coordinates and the course of the current loading equipment and the bucket of the loading equipment, and the coordinates and the courses of all vehicles participating in the cooperative operation, judging whether the enclosing box of the equipment and the loading position which is not allocated to the transportation equipment have an intersection, and if the intersection exists, determining that the state of the loading position is an occupied state; if there is no intersection, the state of the load bit is updated to the idle load bit.

3. The surface mine loading coordination method as recited in claim 2, further comprising introducing coordinates and heading of auxiliary vehicles other than the haulage equipment and the loading equipment in calculating the four-vertex coordinates of the loading equipment and the haulage equipment bounding box.

4. The surface mine loading cooperative operation method according to claim 2, wherein initializing the loading location specifically includes: and judging whether a loading position exists in the loading area, if so, judging whether the loading position is in the loading range of the loading equipment, and if no loading position exists in the loading area or the loading position is not in the loading range of the loading equipment, resetting the loading position by the loading equipment and finishing initializing the loading position.

5. The surface mine loading cooperative operation method according to claim 4,

the method for setting the loading position by the loading equipment comprises the following steps: the loading equipment stretches the bucket to a position needing loading, the position needing loading is set as a loading point, the position coordinates of the bucket tooth are calculated according to the positioning information of the loading equipment, a loading position is respectively generated on two sides of the loading equipment according to the position coordinates of the bucket tooth, and the position coordinates of four top points of the loading position are determined.

6. The surface mine loading cooperative operation method according to claim 1, wherein if it is determined that the target equipment satisfies the departure request, the departure instruction is transmitted after it is determined that the bucket leaves the loading position by calculating a positional relationship between the bucket position and the loading position.

7. The surface mine loading cooperative operation method according to claim 1, wherein allocating an empty loading bay for the target transportation device that has sent the entry request comprises:

setting paired loading equipment for the target transportation equipment;

8. The surface mine loading cooperative operation method according to claim 1,

the cooperative operation platform carries out collision prediction according to the states of all the transportation devices participating in cooperative operation, and sends an entrance driving instruction or an exit driving instruction based on a collision prediction result, and the method comprises the following steps:

if so, acquiring a running path point set of the incoming target transportation equipment or the outgoing target transportation equipment according to the acquired coordinate and the acquired course of the incoming target transportation equipment, and determining a path point set which is not run by the incoming target transportation equipment or the outgoing target transportation equipment; calculating whether collision risks exist between the undriven path point set and other transportation equipment in the on-site driving state or the off-site driving state, and if no collision risk exists, sending an on-site driving instruction or an off-site driving instruction;

if collision risk exists, sending an entrance driving instruction or an exit driving instruction, sending a temporary parking position point, and recovering the road right of a collision risk road section; and after the collision risk is relieved, sending the entering driving instruction or the leaving driving instruction again, and releasing the road right of the collision risk road section.

9. The surface mine loading cooperative operation method according to claim 1, wherein during traveling of the entry target transport facility to the loading site, a collision prediction of the entry target transport facility with the loading facility traveling track space is further performed, and when it is determined by the prediction that there is a risk of collision, a parking instruction is transmitted to the transport facility platform so that the transport facility platform controls the entry target transport facility to park; and when the predicted collision risk is relieved, sending an entrance driving instruction to the transportation equipment platform again.

10. The surface mine loading cooperative operation method according to claim 9, wherein the prediction of the spatial collision of the incoming transport equipment and the loading equipment travel path comprises:

11. The surface mine loading cooperative operation method according to claim 1, wherein determining the set of corresponding path points of the target transport apparatus that sent the entry request to the loading station allocated thereto comprises: acquiring a path point set in a loading area;

12. The surface mine loading cooperative operation method is characterized by comprising the following steps: the method is applied to a transportation equipment platform, and comprises the following steps:

the target transportation equipment in the loading state acquires and transmits the self loading weight in real time in the loading operation process, and sends the self loading weight to the cooperative operation platform for judging whether the target transportation equipment meets the field requirement or not;

and the entrance driving instruction and the exit driving instruction are both used for carrying out collision prediction on the cooperative operation platform according to the states of all the transportation devices participating in cooperative operation and are sent according to collision prediction results.

13. The strip mine loading cooperative operation method according to claim 12, wherein the coordinate and heading information of the target transportation device is collected and transmitted in real time, and the coordinate and heading information is used for judging whether the loading position is an idle loading position or not by the cooperative operation platform according to the coordinate and heading information of all the target transportation devices participating in the cooperative operation and the coordinate and heading information of the loading device and a bucket thereof, or the coordinate and heading information of the target transportation devices is used for judging collision risk by the cooperative operation platform.

14. A load collaboration platform, comprising: the system comprises a parameter configuration module, a first communication module, a guide control module, a loading position management module and a position resolving and collision predicting module;

the loading position management module is used for updating the loading position allocated to the outbound target transport equipment which is out of the loading position to an idle state after the outbound target transport equipment is out of the loading position;

15. A transportation equipment platform is characterized by comprising a second communication module and an unmanned control system; the second communication module is used for carrying out information price interaction with the loading cooperation platform;

the unmanned control system is used for acquiring an entrance driving instruction sent by the cooperative operation platform through the second communication module, converting the state of the entrance target transportation equipment from an entrance waiting state to an entrance driving state and exiting the entrance waiting list; controlling the entry target transportation equipment to travel to the loading position or to a temporary stopping point to stop waiting until collision risks are eliminated and then to travel to the loading position and enter a loading state according to the entry travel instruction and the entry instruction content; the entrance target transportation equipment is the target transportation equipment which enters the entrance waiting list firstly;

16. The surface mine loading cooperative operation system is characterized by comprising a transportation equipment platform and a loading cooperative platform;

the loading coordination platform comprises: the device comprises a parameter configuration module, a first communication module, a guide control module, a loading position management module and a position resolving and collision predicting module;

the guiding control module is used for receiving an entrance request sent by target transportation equipment participating in cooperative operation through the first communication module, wherein the target transportation equipment drives into a designated position in front of the loading area, is in an entrance waiting state and is added into an entrance waiting queue;

the guide control module is also used for receiving the self loading weight which is acquired and transmitted in real time in the loading operation process of the target transportation equipment in a loading state through the first communication module and judging whether the requirement of the target transportation equipment on leaving the factory is met; if the target equipment meets the departure requirement, the target equipment is used as the departure target transportation equipment, and a departure instruction is generated according to the departure target transportation equipment identifier, the departure instruction identifier, the allocated loading position identifier, the corresponding path point set of the departure target transportation equipment exiting the loading area and the right of way; sending an outgoing instruction to a transportation equipment platform;

sending an outgoing driving instruction to the transportation equipment platform so that the transportation equipment platform converts the state of outgoing target transportation equipment from a loading state to an outgoing driving state; the transportation equipment platform controls the departure target transportation equipment to travel outside the loading area or travel to a temporary stop point, stop waiting until collision risk is eliminated and then exit the loading area according to the departure travel instruction and the departure instruction content;

the guidance control module is used for sending an entrance driving instruction or an exit driving instruction through the first communication module based on a collision prediction result;

the transportation equipment platform comprises a second communication module and an unmanned control system; the second communication module is used for carrying out information price interaction with the loading cooperation platform;

17. A computer storage medium storing a computer program for executing the method for cooperative work of surface mine loading according to any one of claims 1 to 13 by a processor.